CN116618448A - Single-frame reversible rolling mill coiling tension self-adaptive control method and system - Google Patents
Single-frame reversible rolling mill coiling tension self-adaptive control method and system Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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Abstract
The invention provides a self-adaptive control method and a self-adaptive control system for coiling tension of a single-frame reversible rolling mill, which realize closed-loop control of coiling tension by adopting a self-adaptive PI controller, establish a mathematical model of a control object by analyzing tension dynamic response data of strip steel production processes with different specifications, adaptively adjust parameters of the PI controller according to the change of the mathematical model of the control object, improve the closed-loop control performance of the coiling tension, and solve the problem of large fluctuation of the coiling tension. Comprising the following steps: s1: a dynamic response curve method is adopted to establish a mathematical model of a coiling tension control object, the range of the coiling diameter D is divided into n sections, and a control object gain coefficient K of the control object at the end point of each coiling diameter section is calculated i The method comprises the steps of carrying out a first treatment on the surface of the Calculating gain coefficient K between two roll diameter section end points (i,i+1) The method comprises the steps of carrying out a first treatment on the surface of the Thereby completing the mathematical model of the control object; s2: establishing a tension closed-loop control system simulation model, dividing m working conditions according to a coil diameter D, setting PI controller parameters, and establishing PI controlAnd the function relation between the parameters and the roll diameter D.
Description
Technical Field
The invention relates to the technical field of metallurgical automation, in particular to a self-adaptive control method and system for coiling tension of a single-frame reversible rolling mill.
Background
Tension is an important parameter in the production of cold-rolled strip steel, and the action of the tension directly influences the shape and thickness of a product, the surface quality of the strip steel, the appearance quality of a steel coil and the running stability of a unit. The tension control of the single-frame reversible rolling mill is realized by adjusting the torques of the uncoiler and the coiling machine, the control mode comprises two modes of indirect tension control and direct tension control, the indirect tension control is open-loop control, no tension feedback exists, the coiling torque setting is calculated according to the tension setting, the direct tension control is closed-loop control, a tension sensor is arranged, and the coiling torque setting is calculated according to the actual tension deviation. In practical application, the basis of indirect tension control is adopted, the basis setting of the torque of the coiling machine is calculated, and the additional setting is calculated on the basis of the basis setting of the tension closed loop to carry out fine adjustment (the fine adjustment range is 5% -10%).
The method is influenced by factors such as indirect tension control calculation errors, motor transmission system nonlinearity, mechanical vibration and the like, the tension greatly fluctuates, and particularly during the high-speed rolling of the small coil diameter of the thin strip with the coil diameter smaller than 1 meter, even oscillation divergence occurs. During thin strip rolling, mechanical vibration brings external disturbance to tension control, during small-coil-diameter high-speed rolling, a coiling transmission system enters a weak magnetic speed regulation area, and nonlinearity of an object model brings systematic disturbance to tension control.
Chinese patent publication No. CN113042540a discloses an ultrathin steel strip coiling tension control method, which describes a coiling torque calculation method in indirect tension control, and performs torque compensation on the coiling machine so that the tension of the steel strip is constant, and no mention is made of an adaptive calculation method of controller parameters. At present, the coiling tension closed-loop control of the single-frame reversible rolling mill generally adopts an empirical test method to set the parameters of the controller, requires longer debugging time and a large amount of debugging raw materials, and increases the debugging cost.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides a self-adaptive control method and a self-adaptive control system for coiling tension of a single-stand reversible rolling mill, which realize closed-loop control of coiling tension by adopting a self-adaptive PI controller, establish a mathematical model of a control object by analyzing dynamic response data of tension in the production process of strip steel with different specifications, adaptively adjust parameters of the PI controller according to the change of the mathematical model of the control object, improve the closed-loop control performance of the coiling tension, and solve the problem of great fluctuation of the coiling tension.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the self-adaptive control method for the coiling tension of the single-stand reversible rolling mill adopts a self-adaptive PI controller to realize closed loop control of the coiling tension, and self-adaptively adjusts parameters of the PI controller according to the change of a mathematical model of a control object, and comprises the following steps:
s1: the method for establishing the mathematical model of the coiling tension control object by adopting a dynamic response curve method comprises the following steps:
s101: setting an equivalent mathematical model formula of a control object;
s102: in the winding tension open-loop control state, adding a step signal input of A% to a set tension value, and collecting dynamic response data of a control object, wherein the dynamic response data comprises load torque and tension actual value; a% is a set additional percentage of the set tension value;
s103: the gain factor K of the control object changes along with the winding diameter D, the range of the winding diameter D is divided into n sections, and the gain factor K of the control object at the end point of each winding diameter section is calculated by the dynamic response initial tension actual value, the dynamic response end tension actual value, the dynamic response initial torque actual value and the dynamic response end torque actual value of the end point of each winding diameter section i ；
S104: piecewise linearity is carried out between two roll diameter section endpoints, a function relation between a control object gain coefficient K and a roll diameter D is established, and the gain coefficient K between the two roll diameter section endpoints is calculated by the control object gain coefficient, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter of the roll diameter section endpoints (i,i+1) The method comprises the steps of carrying out a first treatment on the surface of the Thereby completing the mathematical model of the control object;
s2: establishing a simulation model of a tension closed-loop control system based on the mathematical model of the control object established in the step S1, setting parameters of a PI controller, and comprising:
s201: based on the mathematical model of the control object, a simulation model of the tension closed-loop control system is established, m working conditions are divided from small to large according to the performance index requirement of the controller, m PI controller parameters are set up, and a proportionality constant K is set up P1 ......K Pj ......K Pm And integral constant K I1 ......K Ij ......K Im ；
S202: according to the m working conditions of the winding diameter D, the PI controller parameters are piecewise linearized; establishing a functional relation between PI controller parameters and the coil diameter D;
the proportionality constant KP between the two roll diameter section endpoints is obtained from the proportionality constant of the roll diameter section endpoints, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter (j,j+1) ；
The integral constant, the maximum value, the minimum value and the current rolling diameter of the rolling diameter section end points are used for obtaining the proportionality constant KI between the two rolling diameter section end points (j,j+1) 。
Further, in the step S101, the control object is equivalent to a first-order inertia link with pure hysteresis, and the gain coefficient K, the time constant T and the pure hysteresis time constant τ of the control object are controlled;
further, in the step S103, a gain coefficient K of the control object at each end point of the winding path section is calculated i ：
F act0 -a dynamic response initial tension actual value for each reel segment end point;
F act1 -an actual value of dynamic response end tension for each reel segment end point;
T Qact0 -a dynamic response initial torque actual value for each reel segment end point;
T Qact1 -each ofThe dynamic response end torque actual value of the end point of the winding path section.
Further, in the step S104, a functional relationship between the control target gain coefficient K and the winding diameter D is established:
minimum rolling diameter D of two end points of rolling diameter section min And a maximum roll diameter D max Control object gain coefficient maximum value K of two endpoints of corresponding coil diameter section max And a minimum value K min Namely K i+1 And K i Maximum and minimum of (a), gain coefficient K between two roll diameter section end points (i,i+1) Expressed as:
d is the current coil diameter;
K i the gain coefficient of the control object of the end point of the ith winding path section;
K i+1 the control target gain coefficient of the (i+1) th roll diameter section end point.
Further, in the step S203, a functional relationship between the PI controller parameter and the winding diameter is established, and the maximum value Kp of the proportionality constant of the two end points of the winding diameter section max And a minimum value Kp min Namely K Pj And K Pj+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KP between two roll diameter section end points (j,j+1) The method comprises the following steps:
K Pj PI controller proportionality constant for the end point of the jth coil diameter section;
K Pj+1 PI controller proportionality constant for j+1th reel segment end point.
Further, in the step S203, a functional relationship between the PI controller parameter and the winding path is established, and the integration of two end points of the winding path sectionConstant maximum value KI max And a minimum value KI min Namely K Ij And K Ij+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KI between the end points of the two roll diameter sections (j,j+1) The method comprises the following steps:
K Ij integrating constant for PI controller at end point of jth winding path section;
K Ij+1 the PI controller integration constant for the j+1th reel segment end point.
Further, in the step S102, a step signal input of 3-8% is added to the set tension.
Further, in the step S201, the parameter setting basis of the PI controller is: the overshoot is less than 2%, and the adjustment time is less than 1s.
The invention also provides a system of the single-frame reversible rolling mill coiling tension self-adaptive control method, which comprises a control device, a detection unit and a controlled object, wherein the detection unit is connected with the control device, the controlled object is rolling mill coiling equipment, and the detection unit is used for detecting a coil diameter value, a tension actual value and a torque actual value in real time; the control device internally operates the self-adaptive control method of the coiling tension of the single-stand reversible rolling mill to control rolling mill coiling equipment.
Further, the control device comprises a primary PLC, a secondary computer system and a simulation system.
Compared with the prior art, the invention has the beneficial effects that:
1) According to the invention, the control object mathematical model is established by analyzing the tension dynamic response data of the strip steel production processes with different specifications, the PI controller parameters are adaptively adjusted according to the change of the control object mathematical model, the coiling tension closed-loop control performance is improved, and the problem of large fluctuation of the coiling tension is solved.
2) The self-adaptive PI controller is adopted to realize the coiling tension closed-loop control, the parameters of the PI controller are self-adaptively adjusted according to the change of the mathematical model of the control object, the overshoot of the performance index (which is also the setting basis of the parameters of the controller) of the controller is less than 2%, and the adjusting time is less than 1s.
Drawings
FIG. 1 is a graph of the controller setting result (overshoot less than 2% and adjustment time less than 1 s) of a single stand reversing mill coiling tension adaptive control method of the present invention.
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
the self-adaptive control method for the coiling tension of the single-stand reversible rolling mill adopts a self-adaptive PI controller to realize closed loop control of the coiling tension, and self-adaptively adjusts parameters of the PI controller according to the change of a mathematical model of a control object, and comprises the following steps:
s1: the method for establishing the mathematical model of the coiling tension control object by adopting a dynamic response curve method comprises the following steps:
s101: setting an equivalent mathematical model formula of a control object;
s102: in the winding tension open-loop control state, adding a step signal input of A% to a set tension value, and collecting dynamic response data of a control object, wherein the dynamic response data comprises load torque and tension actual value; a% is a set additional percentage of the set tension value;
s103: the gain factor K of the control object changes along with the winding diameter D, the range of the winding diameter D is divided into n sections, and the gain factor K of the control object at the end point of each winding diameter section is calculated by the dynamic response initial tension actual value, the dynamic response end tension actual value, the dynamic response initial torque actual value and the dynamic response end torque actual value of the end point of each winding diameter section i ；
S104: piecewise linearity is carried out between two roll diameter section endpoints, a function relation between a control object gain coefficient K and a roll diameter D is established, and the gain coefficient K between the two roll diameter section endpoints is calculated by the control object gain coefficient, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter of the roll diameter section endpoints (i,i+1) The method comprises the steps of carrying out a first treatment on the surface of the Thereby completing the mathematical model of the control object;
s2: establishing a simulation model of a tension closed-loop control system based on the mathematical model of the control object established in the step S1, setting parameters of a PI controller, and comprising:
s201: based on the mathematical model of the control object, a simulation model of the tension closed-loop control system is established, m working conditions are divided from small to large according to the performance index requirement of the controller, m PI controller parameters are set up, and a proportionality constant K is set up P1 ......K Pj ......K Pm And integral constant K I1 ......K Ij ......K Im ；
S202: according to the m working conditions of the winding diameter D, the PI controller parameters are piecewise linearized; establishing a functional relation between PI controller parameters and the coil diameter D;
the proportionality constant KP between the two roll diameter section endpoints is obtained from the proportionality constant of the roll diameter section endpoints, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter (j,j+1) ；
The integral constant, the maximum value, the minimum value and the current rolling diameter of the rolling diameter section end points are used for obtaining the proportionality constant KI between the two rolling diameter section end points (j,j+1) 。
In the embodiment, in the step S101, the control object is equivalent to a first-order inertia link with pure hysteresis, and the gain coefficient K, the time constant T and the pure hysteresis time constant τ of the control object are controlled;
in this embodiment, in step S103, the gain coefficient K of the control object at each end point of the winding path section is calculated i ：
F act0 -a dynamic response initial tension actual value for each reel segment end point;
F act1 -an actual value of dynamic response end tension for each reel segment end point;
TQ act0 -a dynamic response initial torque actual value for each reel segment end point;
TQ act1 -a dynamic response end torque actual value for each reel segment end point.
In this embodiment, in the step S104, a functional relationship between the gain coefficient K of the control object and the winding diameter D is established:
minimum rolling diameter D of two end points of rolling diameter section min And a maximum roll diameter D max Control object gain coefficient maximum value K of two endpoints of corresponding coil diameter section max And a minimum value K min Namely K i+1 And K i Maximum and minimum of (a), gain coefficient K between two roll diameter section end points (i,i+1) Expressed as:
d is the current coil diameter;
K i the gain coefficient of the control object of the end point of the ith winding path section;
K i+1 the control target gain coefficient of the (i+1) th roll diameter section end point.
In this embodiment, in the step S203, a functional relationship between the PI controller parameter and the winding diameter is established, and the maximum value Kp of the proportionality constant of the two end points of the winding diameter section max And a minimum value Kp min Namely K Pj And K Pj+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KP between two roll diameter section end points (j,j+1) The method comprises the following steps:
K Pj PI controller proportionality constant for the end point of the jth coil diameter section;
K Pj+1 PI controller proportionality constant for j+1th reel segment end point.
In this embodiment, in the step S203, a functional relationship between the PI controller parameter and the winding diameter is established, and the integral constant maximum value KI of the two end points of the winding diameter section max And a minimum value KI min Namely K Ij And K Ij+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KI between the end points of the two roll diameter sections (j,j+1) The method comprises the following steps:
K Ij integrating constant for PI controller at end point of jth winding path section;
K Ij+1 the PI controller integration constant for the j+1th reel segment end point.
In this embodiment, in the step S102, a step signal input of 3-8% is added to the set tension.
In this embodiment, the parameter setting basis of the PI controller is: the overshoot is less than 2%, and the adjustment time is less than 1s.
The embodiment also provides a system of the single-stand reversible rolling mill coiling tension self-adaptive control method, which comprises a control device, a detection unit and a controlled object, wherein the detection unit is connected with the control device, the controlled object is rolling mill coiling equipment, and the detection unit is used for detecting a coil diameter value, a tension actual value and a torque actual value in real time; the control device internally operates the self-adaptive control method of the coiling tension of the single-stand reversible rolling mill to control rolling mill coiling equipment. The control device comprises a primary PLC, a secondary computer system and a simulation system.
First embodiment:
taking a 20-roll single-frame reversible rolling mill as an example, the maximum strip steel tension is 200kN, the rated torque of a coiling motor is 80350nm and is marked as 1pu, and the measurement precision of a tension sensor is +/-0.5%; the coiling tension closed-loop control is realized by adopting the self-adaptive PI controller, the PI controller parameters are self-adaptively adjusted according to the change of the mathematical model of the control object, the overshoot of the performance index (the setting basis of the controller parameters) of the controller is less than 2 percent, and the adjusting time is less than 1s.
S1: establishing a mathematical model of a coiling tension control object by adopting a dynamic response curve method
1) The control object is equivalent to a first-order inertia link with pure hysteresis, a control object gain coefficient K, an object time constant T and a pure hysteresis time constant tau are calculated;
2) Establishing a mathematical model of the coiling tension control object by adopting a response curve method; to set the tension F set Adding 3-8% step signal input, and collecting dynamic response data of coiling tension control object under coiling tension open loop control state, including actual value TQ of coiling transmission torque act Actual value of tension F act Waiting for a signal;
3) Dividing the range of the coil diameter D into n sections, and calculating the gain coefficient K of the control object of each section end point i
F act0 -dynamically responding to an initial tension actual value;
F act1 -a dynamic response ending tension actual value;
TQ act0 -dynamically responding to an initial torque actual value;
TQ act1 -a dynamic response end torque actual value;
the coil diameter D is 500mm-2000mm, and the coil diameter D is divided into 4 sections (can be segmented arbitrarily and is not limited by the embodiment); calculating a control object gain coefficient K: k when the coil diameter D is 500mm 1 118, and K is 1000mm in the coil diameter D 2 87, K when the coil diameter D is 1500mm 3 57, K when the coil diameter D is 2000mm 4 26.
The object time constant t=230 ms, the pure lag time constant τ=40 ms.
4) The gain coefficient K of the control object changes along with the coil diameter D, the coil diameter range is 500mm-2000mm, and a functional relation between the gain coefficient K of the control object and the coil diameter D is established;
minimum rolling diameter D of two end points of rolling diameter section min And a maximum roll diameter D max Control object gain coefficient maximum value K of two endpoints of corresponding coil diameter section max And a minimum value K min Namely K i+1 And K i Maximum and minimum of (a), gain coefficient K between two roll diameter section end points (i,i+1) Expressed as:
d is the current coil diameter;
K i the gain coefficient of the control object of the end point of the ith winding path section;
K i+1 the control target gain coefficient of the (i+1) th roll diameter section end point.
S2: and (3) establishing a simulation model of the tension closed-loop control system based on the mathematical model of the control object established in the step (S1), and setting parameters of the PI controller:
establishing a tension closed-loop control system simulation model, and setting PI controller parameters; according to the performance index requirement of the controller, the embodiment changes the diameter from small to large D 1 、D 2 、D 3 、D 4 、D 5 、D 6 、D 7 、D 8 、D 9 Dividing 9 working conditions, setting PI controller parameters and proportional coefficient K P1 、K P2 、K P3 、K P4 、K P5 、K P6 、K P7 、K P8 ，K P9 Integral coefficient K I1 、K I2 、K I3 、K I4 、K I5 、K I6 、K I7 、K I8 、K I9 ；
| Rolling diameter (mm) | 500 | 700 | 900 | 1100 | 1300 | 1500 | 1700 | 1900 | 2000 |
| KPj | 0.0058 | 0.0063 | 0.0071 | 0.0081 | 0.0095 | 0.012 | 0.015 | 0.021 | 0.026 |
| KIj | 0.0171 | 0.0189 | 0.0213 | 0.0242 | 0.0285 | 0.036 | 0.045 | 0.063 | 0.078 |
Table 1 PI controller parameters for each Rolling diameter working condition section set by simulation model
Establishing a functional relation between PI controller parameters and the winding diameter; according to the working conditions in 9 above, the PI controller parameters are piecewise linearized, and the controller parameters in each piece are expressed as:
as shown in fig. 1, the self-adaptive PI controller is adopted to realize closed loop control of coiling tension, parameters of the PI controller are self-adaptively adjusted according to the change of a mathematical model of a control object, the overshoot of the performance index of the controller is less than 2%, and the adjustment time is less than 1s.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
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. All other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be within the scope of the present invention.
Claims (10)
1. The self-adaptive control method for the coiling tension of the single-stand reversible rolling mill is characterized in that the self-adaptive PI controller is adopted in the control method to realize closed loop control of the coiling tension, and parameters of the PI controller are self-adaptively adjusted according to the change of a mathematical model of a control object, and the method comprises the following steps:
s1: the method for establishing the mathematical model of the coiling tension control object by adopting a dynamic response curve method comprises the following steps:
s101: setting an equivalent mathematical model formula of a control object;
s102: in the winding tension open-loop control state, adding a step signal input of A% to a set tension value, and collecting dynamic response data of a control object, wherein the dynamic response data comprises load torque and tension actual value; a% is a set additional percentage of the set tension value;
s103: the gain factor K of the control object changes along with the winding diameter D, the range of the winding diameter D is divided into n sections, and the gain factor K of the control object at the end point of each winding diameter section is calculated by the dynamic response initial tension actual value, the dynamic response end tension actual value, the dynamic response initial torque actual value and the dynamic response end torque actual value of the end point of each winding diameter section i ；
S104: piecewise linearity is carried out between two roll diameter section endpoints, a function relation between a control object gain coefficient K and a roll diameter D is established, and the gain coefficient K between the two roll diameter section endpoints is calculated by the control object gain coefficient, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter of the roll diameter section endpoints (i,i+1) The method comprises the steps of carrying out a first treatment on the surface of the Thereby completing the mathematical model of the control object;
s2: establishing a simulation model of a tension closed-loop control system based on the mathematical model of the control object established in the step S1, setting parameters of a PI controller, and comprising:
s201: based on the mathematical model of the control object, a simulation model of the tension closed-loop control system is established, m working conditions are divided from small to large according to the performance index requirement of the controller, m groups of PI controller parameters are set up, and a proportionality constant K is set up P1 ......K Pj ......K Pm And integral constant K I1 ......K Ij ......K Im ；
S202: according to the m working conditions of the winding diameter D, the PI controller parameters are piecewise linearized; establishing a functional relation between PI controller parameters and the coil diameter D;
the proportionality constant KP between the two roll diameter section endpoints is obtained from the proportionality constant of the roll diameter section endpoints, the roll diameter maximum value, the roll diameter minimum value and the current roll diameter (j,j+1) ；
The integral constant, the maximum value, the minimum value and the current rolling diameter of the rolling diameter section end points are used for obtaining the proportionality constant KI between the two rolling diameter section end points (j,j+1) 。
2. The method for adaptively controlling the winding tension of a stand-alone reversing mill according to claim 1, wherein in the step S101, the control object is equivalent to a first-order inertia link with pure hysteresis, a control object gain coefficient K, an object time constant T, and a pure hysteresis time constant τ;
3. the method according to claim 1, wherein in step S103, a gain factor K of the control object at each end of the rolling section is calculated i ：
F act0 -a dynamic response initial tension actual value for each reel segment end point;
F act1 -an actual value of dynamic response end tension for each reel segment end point;
TQ act0 -a dynamic response initial torque actual value for each reel segment end point;
TQ act1 -a dynamic response end torque actual value for each reel segment end point.
4. The method for adaptively controlling the winding tension of a stand-alone reversing mill according to claim 1, wherein in the step S104, a functional relationship between a gain coefficient K of the controlled object and a winding diameter D is established:
minimum rolling diameter D of two end points of rolling diameter section min And a maximum roll diameter D max Control object gain coefficient maximum value K of two endpoints of corresponding coil diameter section max And a minimum value K min Namely K i+1 And K i Maximum and minimum of (a), gain coefficient K between two roll diameter section end points (i,i+1) Expressed as:
d is the current coil diameter;
K i the gain coefficient of the control object of the end point of the ith winding path section;
K i+1 the control target gain coefficient of the (i+1) th roll diameter section end point.
5. The method for adaptively controlling the winding tension of a stand-alone reversing mill according to claim 1, wherein in the step S203, a functional relationship between PI controller parameters and winding diameter is established, and the maximum value Kp of proportionality constants of two end points of the winding diameter section is calculated max And a minimum value Kp min Namely K Pj And K Pj+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KP between two roll diameter section end points (j,j+1) The method comprises the following steps:
K Pj PI controller proportionality constant for the end point of the jth coil diameter section;
K Pj+1 PI controller proportionality constant for j+1th reel segment end point.
6. The method according to claim 1, wherein in step S203, a functional relationship between PI controller parameters and coil diameter is established, and the integral constant maximum value KI of two ends of the coil diameter section max And a minimum value KI min Namely K Ij And K Ij+1 Maximum and minimum of (a) and a roll diameter maximum D of two end points of the roll diameter section max Minimum value D of coil diameter min And the current roll diameter D to obtain a proportionality constant KI between the end points of the two roll diameter sections (j,j+1) The method comprises the following steps:
K Ij integrating constant for PI controller at end point of jth winding path section;
K Ij+1 the PI controller integration constant for the j+1th reel segment end point.
7. The method according to claim 1, wherein in the step S102, a step signal input of 3-8% is added to the set tension.
8. The method for adaptively controlling the coiling tension of a stand-alone reversing mill according to claim 1, wherein in the step S201, the parameter setting basis of the PI controller is: the overshoot is less than 2%, and the adjustment time is less than 1s.
9. The system of the self-adaptive control method for the coiling tension of the single-frame reversible rolling mill, which is characterized by comprising a control device, a detection unit and a controlled object, wherein the detection unit is connected with the control device, the controlled object is rolling mill coiling equipment, and the detection unit is used for detecting a coiling diameter value, an actual tension value and an actual torque value in real time; the control device internally operates the self-adaptive control method of the coiling tension of the single-stand reversible rolling mill to control rolling mill coiling equipment.
10. The system of claim 9, wherein the control device comprises a primary PLC, a secondary computer system, and a simulation system.
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| CN202310762814.8A CN116618448A (en) | 2023-06-27 | 2023-06-27 | Single-frame reversible rolling mill coiling tension self-adaptive control method and system |
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| CN202310762814.8A CN116618448A (en) | 2023-06-27 | 2023-06-27 | Single-frame reversible rolling mill coiling tension self-adaptive control method and system |
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Effective date of registration: 20231212 Address after: Inside Anshan Iron and Steel Future Steel Research Institute, North District of Beijing Future Science and Technology City, Changping District, Beijing 102200 Applicant after: Angang Group Beijing Research Institute Co.,Ltd. Applicant after: ANGANG STEEL Co.,Ltd. Address before: Inside Anshan Iron and Steel Future Steel Research Institute, North District of Beijing Future Science and Technology City, Changping District, Beijing 100000 Applicant before: Angang Group Beijing Research Institute Co.,Ltd. |