CN2762905Y - System for controlling hydraulic pressing position of rolling mill - Google Patents

System for controlling hydraulic pressing position of rolling mill Download PDF

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Publication number
CN2762905Y
CN2762905Y CN 200420118071 CN200420118071U CN2762905Y CN 2762905 Y CN2762905 Y CN 2762905Y CN 200420118071 CN200420118071 CN 200420118071 CN 200420118071 U CN200420118071 U CN 200420118071U CN 2762905 Y CN2762905 Y CN 2762905Y
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CN
China
Prior art keywords
signal
control
servo
speed
template
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CN 200420118071
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Chinese (zh)
Inventor
詹绍忠
申步君
孙力
郭彦崇
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北京欧拓普科技有限公司
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Priority to CN 200420118071 priority Critical patent/CN2762905Y/en
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Publication of CN2762905Y publication Critical patent/CN2762905Y/en

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Abstract

The utility model relates to a system for controlling a hydraulic pressing position of a rolling mill, which comprises a programmable logic controller, a position sensor, a servo amplifier, a hydraulic pressing oil cylinder and a servo valve, wherein the programmable logic controller is composed of a CPU, a digital quantity input mould plate, a digital quantity output mould plate, an analog quantity input mould plate, an analog quantity output mould plate, a dual spindle servo control mould plate, a power supply mould plate and a machine frame. Pulse signals are output by the position sensor to the dual spindle servo control mould plate; analog quantity signals which are generated by the dual spindle servo control mould plate are amplified by the servo amplifier; the control and the action of the analog quantity signals which are sent by the servo amplifier are received by the servo valve. The utility model can raise the control precision of the system, improve response speed, and enhance stability, drop manufacturing cost and bring convenience for the maintenance of the system. When the thickness signals of band steel, the speed signals of an outlet and an inlet of the rolling mill, etc. are collected, the utility model can realize the functions of controlling the thickness of the band steel in advance, monitoring and controlling the thickness of the band steel and controlling flow per second.

Description

A kind of rolling mill hydraulic depressing position control system
Technical field
The invention belongs to black, non-ferrous metal calendering technology, its hydraulic pressure that is particularly related to strip mill, aluminium/copper strips milling train etc. is depressed control technology, is a kind of rolling mill hydraulic depressing position control system specifically.
Background technology
All the time, the THICKNESS CONTROL problem of strip mill fails well to solve all the time, and it mainly shows as in practical application in industry: problems such as the precision of control system is not high, response speed is unhappy, stability is bad.And cause a main cause of these problems to be, and the precision of milling train depressing position control system is not high, and response speed is unhappy.
Milling train depressing position control system commonly used at present is as follows:
(1) the simulation control circuit board that adopts discrete elements to form is realized the position closed loop control of hydraulic press down system.Because this system mainly adopts discrete analog component, so the response speed of this control system is very fast.But this system also exists very big drawback, is subjected to the condition restriction of himself components and parts, and As time goes on the control accuracy of system can reduce, and user's maintenance workload is constantly increased.And system update, the upgrading difficulty.
(2) adopt industrial computer and I/O card to realize the position closed loop control of hydraulic press down system.The precision of this control mode and response speed can meet the demands.But, be subjected to the restriction of computer technology, promptly the deadlock probability of computer system is higher, causes the control system reliability to reduce.In addition, owing to adopt the computer advanced language programming, require user's attendant to possess higher computer capacity.
(3) adopt programmable logic controller (PLC) (PLC) to realize the position closed loop control of hydraulic press down system.This control scheme mainly adopts analog quantity I/O template, and the high-speed counting template is come forming control system.This system is used for can also meeting the demands on the mill speed milling train of low (as less than 120m/min); But just can not satisfy the control requirement on greater than the milling train of 120m/min in mill speed.Reason is the processor processing speed of PLC system and the response speed that has all influenced control system conversion time of analog quantity I/O template.Make response time of position ring much larger than 10ms.
(4) adopt high-grade PLC system (cooperating the S7-400 series of PLC to form system, the AUTOMAX system of ROCKWELL company) to realize the position closed loop control of hydraulic press down system as the SIMADYN d system of SIEMENS company and the alternative functions template FM458 of the firm SIMADYN of release D.Though adopt the control effect of this system better, the control system of forming involves great expense like this, the user is difficult to accept.
In sum, rolling mill hydraulic depressing position control system of the prior art, or because of precision is not high, response speed is unhappy, the bad needs that can't satisfy real work of stability, or manufacturing cost is too high, difficult in maintenance and do not have a practicality.
The utility model content
The purpose of this utility model is by a kind of rolling mill hydraulic depressing position control system being provided, in order to improve the control accuracy of described system, accelerating its response speed, promoting its stability; And reduce its manufacturing cost, the maintenance of convenient described system.
The technical solution of the utility model is: a kind of rolling mill hydraulic depressing position control system, and it comprises,
Programmable logic controller (PLC) (PLC): form by CPU, digital quantity input template, digital quantity output template, analogue input template, analog quantity output template, twin shaft SERVO CONTROL template, power template and frame;
Position sensor: be used for output pulse signal and give described twin shaft SERVO CONTROL template;
Servo amplifier: be used for the analog signals that described twin shaft SERVO CONTROL template produces is amplified;
Hydraulic pressure depress oil cylinder and servo valve: described servo valve is accepted the control of the analog signals that described servo amplifier transmits and is moved.
Described position sensor comprises: fore side position sensor and transmission side position sensor;
Described servo amplifier comprises: fore side servo amplifier and transmission side servo amplifier;
Described hydraulic pressure depress oil cylinder and servo valve comprise: fore side hydraulic pressure depress oil cylinder and servo valve and transmission side hydraulic pressure depress oil cylinder and servo valve; Wherein,
The servo template of described twin shaft also has the synchronous function of twin shaft, is used to control described fore side hydraulic pressure depress oil cylinder and transmission side hydraulic pressure depress oil cylinder all the time with same acceleration slope and speed operation.
The servo template of described twin shaft possesses position ring and speed ring PID (PID) adjuster: be used to receive fore side, the transmission side AB position feed back signal of quadrature coding pulse mutually, and with this position feed back signal and set-point comparison, produce the analog quantity control signal behind the PID adjuster of its deviation signal process position ring and speed ring, the described servo amplifier module of this analog quantity control signal process changes into the servo valve of the current signal control hydraulic pressure depress oil cylinder after the amplification.
The servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of fore side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind position ring PID adjuster; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced fore side servo valve control signal behind speed ring PID adjuster.
The servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of transmission side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind position ring PID adjuster; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced transmission side servo valve control signal behind speed ring PID adjuster.
Described programmable logic controller (PLC) also comprises man-machine interface: be used for described system is provided with and operates.
Described programmable logic controller (PLC) comprises communication interface: be used for communicating by communication network and far-end control platform.
Described communication interface comprises: wired communication interface and/or wireless communication interface.
Described wired communication interface is meant Ethernet card or fieldbus (Profibus), and control net (Controlnet) waits other high-speed data network interface card.
The beneficial effects of the utility model are: a kind of rolling mill hydraulic depressing position control system that the utility model provides is compared with traditional analog control system, the precision height, and system is more stable;
Compare with the position/thickness control system that adopts industrial computer to form, the PLC control system of this control system is more reliable, safety; And after having adopted the servo template control model of twin shaft, response speed is faster, and control accuracy also increases;
Adopt handler mould boards to add high speed count module plate, analog quantity input and output template and the PLC control system of digital quantity input and output template with present other and compare, response speed is fast, and precision is higher;
With the AUTOMAX system that adopts as ROCKWELL company, the hydraulic pressure depress control system of compositions such as the SIMADYN d system of SIEMENS company is compared, and the cost of this control system is much lower, and the response speed of system and control accuracy are not inferior;
And a kind of rolling mill hydraulic depressing position control system that the utility model provides realizes more convenient, practicality.Procedure quantity is little, and is simple.Be convenient to implement and regular maintenance.
The THICKNESS CONTROL that realizes the strip steel on this basis will be easy to many.Promptly gather the belt steel thickness signal again, the rate signal of milling train gateway etc. just can be realized belt steel thickness pre-control, monitoring and second flow control function by programming.
Description of drawings
Fig. 1 is the utility model structured flowchart;
Fig. 2 is the utility model hydraulic pressure depressing position control principle figure;
Fig. 3 is the utility model hydraulic pressure depressing position control flow chart;
Fig. 4 is the fore side control principle figure of the servo template of twin shaft described in the utility model;
Fig. 5 is the transmission side control principle figure of the servo template of twin shaft described in the utility model.
The specific embodiment
Below in conjunction with the description of drawings specific embodiment of the present utility model.The invention provides a kind of rolling mill hydraulic depressing position control system, it comprises,
Programmable logic controller (PLC) (PLC): form by CPU, digital quantity input template, digital quantity output template, analogue input template, analog quantity output template, twin shaft SERVO CONTROL template, power template and frame;
Position sensor: be used for output pulse signal and give described twin shaft SERVO CONTROL template;
Servo amplifier: be used for the analog signals that described twin shaft SERVO CONTROL template produces is amplified;
Hydraulic pressure depress oil cylinder and servo valve: described servo valve is accepted the control of the analog signals that described servo amplifier transmits and is moved.
In the specific implementation, adopt the twin shaft SERVO CONTROL template of the CONTROLLOGIX series of PLC of ROCKWELL company to realize hot rolling/cold rolled sheet steel rolling mill hydraulic depressing position closed-loop control.
As shown in Figure 1, PLC forms:
One of CPU template, each one of digital quantity I/O template, each one of analog quantity I/O template, one of twin shaft SERVO CONTROL template, and each one of power template and frame.
This PLC system has improved the stability and the reliability of system.
The position sensor of this control system most critical adopts Japanese SONY magnetic scale, and its resolution ratio is 0.001mm, and mode signal output is AB phase coded pulse signal or UP/DOWN pulse signal.By using this position sensor to improve the accuracy of detection of system.
As shown in Figure 2, the servo template of twin shaft itself possesses position ring and speed ring PID adjuster.It can receive the position feed back signal of AB phase quadrature coding pulse, and itself and setting value are compared, 16 analog quantity control signals of generation ± 10V behind the PID adjuster of its deviation signal process position ring and speed ring.This control signal changes into ± servo valve of 20mA current signal control hydraulic pressure depress oil cylinder through servo amplifier module.Because the I of the position ring regulating cycle of servo template reaches 0.2ms, thereby guarantees the quick response of control system.In addition, this servo template also has the synchronous function of twin shaft, promptly controls two oil cylinders all the time with same acceleration slope and speed operation, thereby has improved the precision of control system.This point is extremely important in working control, and is in full accord because the characteristic of oil cylinder and servo valve is difficult to accomplish, the layout of actual oil pipe and trend all can influence the speed of service of oil cylinder.Therefore the Synchronization Control ring must be arranged to guarantee two same moved further of oil cylinder in the hydraulic jack position control system.And the servo template of this twin shaft itself has just possessed the twin shaft synchronizing function.
As shown in Figure 3, the servo template of described twin shaft possesses position ring and speed ring PID (PID) adjuster: be used to receive the AB position feed back signal of quadrature coding pulse mutually, and with this position feed back signal and set-point comparison, produce the analog quantity control signal behind PID (PID) adjuster of its deviation signal process position ring and speed ring, the described servo amplifier module of this analog quantity control signal process changes into the servo valve of the current signal control hydraulic pressure depress oil cylinder after the amplification.Wherein, set-point is from host computer or master operating station.
As shown in Figure 4, the servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of fore side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind position ring PID (PID) adjuster; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced fore side servo valve control signal behind speed ring PID (PID) adjuster.
As shown in Figure 5, the servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of transmission side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind position ring PID (PID) adjuster; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced transmission side servo valve control signal behind speed ring PID (PID) adjuster.
Embodiment:
Adopt the CONTROLLOGIX5555 series of PLC of ROCKWELL company.As depicted in figs. 1 and 2, concrete system is constructed as follows:
One of 1756-L55M12 handler mould board;
One on 1756-A10 10 scouring machine framves;
One of 1756-PA72 power template;
One of 32 digital quantity input template of 1756-IB32;
One of 32 digital quantity output template of 1756-OB32;
One of 1756-IF16 4 passage high speed analogue input template;
One of 1756-OF4 4 tunnels analogy amount output template;
One of 2 servo template of 1756-M0A2E;
1756-ENBT ethernet network interface card or Profibus, other high-speed data network interface card such as Controlnet;
Oil cylinder position instrumentation: SONY magnetic scale and corresponding secondary meter MD02A, output AB phase quadrature coding pulse signal.Each oil cylinder is installed a magnetic scale.
Servo valve/power amplifier: U.S. MOOG servo valve and corresponding servo amplifier module (general ± 10VDC signal is converted to ± the 20-50mA current signal).
Pressure sensor: homemade
Other: operating desk, the preceding control cabinet of machine etc.
Control software adopts special-purpose software.
The working control effect:
Oil cylinder position control accuracy: ± 0.001mm
Oil cylinder synchronization accuracy: ± 0.001mm
A kind of rolling mill hydraulic depressing position control system that the utility model provides is compared with traditional analog control system, the precision height, and system is more stable;
Compare with the position/thickness control system that adopts industrial computer to form, the PLC control system of this control system is more reliable, safety; And after having adopted the servo template control model of twin shaft, response speed is faster, and control accuracy also increases;
Adopt handler mould boards to add high speed count module plate, analog quantity input and output template and the PLC control system of digital quantity input and output template with present other and compare, response speed is fast, and precision is higher;
With the AUTOMAX system that adopts as ROCKWELL company, the hydraulic pressure depress control system of compositions such as the SIMADYN d system of SIEMENS company is compared, and the cost of this control system is much lower, and the response speed of system and control accuracy are not inferior;
And a kind of rolling mill hydraulic depressing position control system that the utility model provides realizes more convenient, practicality.Procedure quantity is little, and is simple.Be convenient to implement and regular maintenance.
The THICKNESS CONTROL that realizes the strip steel on this basis will be easy to many.Promptly gather the belt steel thickness signal again, the rate signal of milling train gateway etc. just can be realized belt steel thickness pre-control, monitoring and second flow control function by programming.
The above specific embodiment only is used to illustrate the utility model, but not is used to limit the utility model.

Claims (9)

1. a rolling mill hydraulic depressing position control system is characterized in that comprising,
Programmable logic controller (PLC): form by CPU, digital quantity input template, digital quantity output template, analog input template, analog quantity output template, twin shaft SERVO CONTROL template, power template and frame;
Position sensor: be used for output pulse signal and give described twin shaft SERVO CONTROL template;
Servo amplifier: be used for the analog signals that described twin shaft SERVO CONTROL template produces is amplified;
Hydraulic pressure depress oil cylinder and servo valve: described servo valve is accepted the control of the analog signals that described servo amplifier transmits and is moved.
2. a kind of rolling mill hydraulic depressing position control system according to claim 1 is characterized in that,
Described position sensor comprises: fore side position sensor and transmission side position sensor;
Described servo amplifier comprises: fore side servo amplifier and transmission side servo amplifier;
Described hydraulic pressure depress oil cylinder and servo valve comprise: fore side hydraulic pressure depress oil cylinder and servo valve and transmission side hydraulic pressure depress oil cylinder and servo valve; Wherein,
The servo template of described twin shaft also has the synchronous function of twin shaft, is used to control described fore side hydraulic pressure depress oil cylinder and transmission side hydraulic pressure depress oil cylinder all the time with same acceleration slope and speed operation.
3. a kind of rolling mill hydraulic depressing position control system according to claim 1 is characterized in that,
The servo template of described twin shaft possesses position ring and speed ring proportional integral derivative controller: be used to receive fore side, the transmission side AB position feed back signal of quadrature coding pulse mutually, and with this position feed back signal and set-point comparison, produce the analog quantity control signal behind the proportional integral derivative controller of its deviation signal process position ring and speed ring, the described servo amplifier module of this analog quantity control signal process changes into the servo valve of the current signal control hydraulic pressure depress oil cylinder after the amplification.
4. a kind of rolling mill hydraulic depressing position control system according to claim 2 is characterized in that,
The servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of fore side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind the position ring proportional integral derivative controller; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced fore side servo valve control signal behind the speed ring proportional integral derivative controller.
5. a kind of rolling mill hydraulic depressing position control system according to claim 2 is characterized in that,
The servo template of described twin shaft: will be converted to position feed back signal and feedback speed signal from the orthogonal pulses signal of transmission side position sensor; The given signal in position feed back signal and position compared obtain position error signal; With position error signal given signal of generation speed behind the position ring proportional integral derivative controller; The given signal of feedback speed signal and speed compared obtain speed deviation signal; Speed deviation signal is produced transmission side servo valve control signal behind the speed ring proportional integral derivative controller.
6. a kind of rolling mill hydraulic depressing position control system according to claim 1 is characterized in that described programmable logic controller (PLC) comprises man-machine interface: be used for described system is provided with and operates.
7. a kind of rolling mill hydraulic depressing position control system according to claim 1 is characterized in that described programmable logic controller (PLC) comprises communication interface: be used for communicating by communication network and far-end control platform.
8. a kind of rolling mill hydraulic depressing position control system according to claim 7 is characterized in that described communication interface comprises: wired communication interface and/or wireless communication interface.
9. a kind of rolling mill hydraulic depressing position control system according to claim 8 is characterized in that described wired communication interface is meant Ethernet card or Profibus, other high-speed data network interface card such as Controlnet.
CN 200420118071 2004-10-26 2004-10-26 System for controlling hydraulic pressing position of rolling mill CN2762905Y (en)

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Application Number Priority Date Filing Date Title
CN 200420118071 CN2762905Y (en) 2004-10-26 2004-10-26 System for controlling hydraulic pressing position of rolling mill

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Application Number Priority Date Filing Date Title
CN 200420118071 CN2762905Y (en) 2004-10-26 2004-10-26 System for controlling hydraulic pressing position of rolling mill

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101332471B (en) * 2008-07-31 2012-05-02 南京钢铁股份有限公司 Dynamic control method of biting speed of rolling mill
CN104259218A (en) * 2014-09-15 2015-01-07 东北轻合金有限责任公司 Hot rolling mill AGC system and rolling control method thereof
CN107008757A (en) * 2016-01-28 2017-08-04 宝山钢铁股份有限公司 A kind of pressure oil cylinder Deviation Control Method of continuous hot-rolling mill

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101332471B (en) * 2008-07-31 2012-05-02 南京钢铁股份有限公司 Dynamic control method of biting speed of rolling mill
CN104259218A (en) * 2014-09-15 2015-01-07 东北轻合金有限责任公司 Hot rolling mill AGC system and rolling control method thereof
CN107008757A (en) * 2016-01-28 2017-08-04 宝山钢铁股份有限公司 A kind of pressure oil cylinder Deviation Control Method of continuous hot-rolling mill

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20060308

Termination date: 20091126