CN104874611A - Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device - Google Patents
Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device Download PDFInfo
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- CN104874611A CN104874611A CN201410068191.5A CN201410068191A CN104874611A CN 104874611 A CN104874611 A CN 104874611A CN 201410068191 A CN201410068191 A CN 201410068191A CN 104874611 A CN104874611 A CN 104874611A
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- pinch roll
- control
- oil cylinder
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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
- B21B37/58—Roll-force control; Roll-gap control
- B21B37/62—Roll-force control; Roll-gap control by control of a hydraulic adjusting device
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Abstract
The invention relates to a method for controlling position of a pinch roll at a finish rolling inlet of a hot continuous rolling device. The method comprises deciding to adopt a linear control method and a non-linear control method according to different position deviations at two sides of a pinch roll during pinch roll gap control, determining an entry switching point between linear control and non-linear control according to the curvature of a curve in the non-linear control process and the straight slop in the linear control process through combination of linear control and non-linear control, to precisely control position deviations, and implementing uninterrupted high precision position control according to combination of characteristics of the two control methods during control to meet demands of the whole automatic positioning control. By adopting the method for controlling the position of the pinch roll at the finish rolling inlet of the hot continuous rolling device, the problem that the efficiency of a manual control method and the control precision are low can be solved.
Description
Technical field
The present invention relates to the automation of rolling to control, the particularly control of continuous hot-rolling mill finish rolling entrance pinch roll, is specifically related to a kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method.
Background technology
For ensureing that band steel stings steel normally at hot tandem, before continuous hot-rolling mill, installed pinch roll, its main function is that subband steel is nipped milling train normally, as shown in Figure 1.In the structure of pinch roll, its top roll is fixing, contacts with the strip, and always rotates during rolling, speed is consistent with the speed of band steel, lower roll is moveable up and down, and the fore side of pinch roll, transmission side are equipped with two hydraulic cylinders respectively, and pinch roll is by the Driven by Hydraulic Cylinder of transmission side and fore side, come the location of roll gap, each hydraulic cylinder respectively fills a position sensor, and for measuring the physical location of hydraulic cylinder, the structure of pinch roll as shown in Figure 2.
In actual production process at the scene, because the control of pinch roll roll gap is completed by hydraulic cylinder, when oil cylinder leakage of oil, when sensor fluctatings etc. may make dephosphorization case pinch roll both sides height inconsistent, pinch roll is caused cannot to be normally pressed onto on band steel, due to its under normal operating conditions, directly there is impact to the control of flying shear, therefore at present this type of abnormal occur after we generally adopt a top pinch roll manually on lift after, between upper bottom pinch roll, on pad, the measure such as cushion block processes temporarily, but in the production process of reality, because still constantly there is the interference of setup parameter this pinch roll position, therefore for the selection of cushion block being have certain requirement, once select incorrect, the exception of this withdrawal roll oil cylinder or pinch roll body will be caused, therefore this process has certain risk, simultaneously, certain downtime is had in processing procedure.
, how to solve in such cases, the state of this pinch roll position control for this reason, thus ensure that band steel is normal through the outbalance that just seems.
Be in 96113266.3 " balance methods of the power in rolling-mill housing caused by roller horizontal " at number of patent application, about its core be two adjustment cylinder in pressure for determining the roll-force on roll gap side, power shown in device for measuring force is for determining the roll-force on another opposite side of roll gap, according to the work roll axial force can determined by driving the pressure in gas tank at working roll, calculating simultaneously and determining the axial force in the operating frame of rolling.
It is the securing position relating generally to the accurate measurement of solution Electro-pressing rolling mill Roll-gap position in 86201082 " high precisional accuracy testing device for roll gap under electric driving pressures " at number of patent application.It has in the severe steel rolling environment of shock and vibration, swing enables the high-precision sensor of micron order (optical pulse generator or photoelectric encoder) be worked accurately and reliably by this device.The change of gap values between rollers is rotated dynamic by the housing screw of milling train.Housing screw by transmitter (7) with bearing (6) Flexible Connector (5) pass to the sensor be equipped with on elastic ring, the signal making it obtain transfers corresponding gap values between rollers to by digital displaying meter.
Be relate generally in CN200820190932.7 " there is position deviation and eliminate the band steel pinch-roll control device of function " a kind of to there is the band steel pinch-roll control device that position deviation eliminates function at number of patent application, by positioner, pressure controller, selection function module and D/A converter module are formed, positioner is connected with selection function module, pressure controller is connected with D/A converter module input by selection function module, the output of D/A converter module exports as control, be characterized in: also have a position deviation controller to be connected with selection function module.Because the utility model is on the basis of former control device, add position deviation controller, make the utility model have following advantage: 1. take electrical control means to eliminate position deviation, only relate to increase electrical module, amendment part source program, simple and convenient; 2. both sides position deviation can control in required scope by the amplification coefficient by adjusting controller, flexibly and easily.
Be relate generally in CN200920104227.5 " roll bite debugging device for pinch rolls " to comprise force cell Displaying Meter and two double shear beam force cells at number of patent application, two double shear beam force cells are arranged between upper and lower pinch roll, and the height dimension of two sensors is consistent, output sensitivity size is the same; The power supply that package unit uses is 220V civil power; Force cell Displaying Meter is connected on 220V mains supply; The pressure signal of sensor when detecting is converted to data signal, and is shown by LED; On pinch rod and double shear beam force cell contact position be located in the middle of roll gap debugging apparatus; Under pinch rod and force cell contact position be located at roll gap debugging apparatus two ends, be made up of two sections of arcs, centre is a concave elongated.
By to above-mentioned patented technology analysis, wherein Section 1 relate to a kind of control method of roll-force, and second relate to a kind of improvement of pinch roll to Section 4, but all do not relate to the pinch roll before tandem mill when malposition, how to realize online position control.
Summary of the invention
The object of this invention is to provide a kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method, the method adopts automated location in unlimited time to control, when to improve in prior art pinch roll malposition, the Artificial Control method adopted, improve control rate and control accuracy, meet the requirement of produced on-site, in order to solve the problem that Artificial Control method efficiency is low, control accuracy is poor.
For achieving the above object, the solution of the present invention is: a kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method, comprises the steps:
(1) maximum position of pinch roll and the responsiveness of pinch roll transmission side and active side oil cylinder is set, and the position deviation amount that given pinch roll transmission side and active side allow;
(2) control pinch roll action by the action of PLC control pinch roll transmission side and active side oil cylinder, and detect the physical location of pinch roll transmission side and active side according to described in-oil cylinder position sensor;
(3) judge whether the physical location deviation of pinch roll transmission side and active side exceedes given position deviation amount, if do not exceeded, then adopt Linear Control mode to control the action of pinch roll; If exceeded, then nonlinear Control mode is adopted to control the action of pinch roll;
(4) judge whether pinch roll arrives the maximum position of setting, if do not arrived, then continue through oil cylinder and control pinch roll action; If arrived, then enter step (5);
(5) judge whether the position deviation of pinch roll transmission side and active side exceedes given departure, if exceeded, then continue through PLC and control cylinder action to control pinch roll action; If do not exceeded, then this time control to terminate.
Further, in described step (3), described Linear Control mode is:
v=K×Δx
Wherein, v represents the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic;
Δ x represents the physical location deviation of pinch roll transmission side and active side;
K represents the Linear Control slope by response speed institute respective settings.
Further, in described step (3), described nonlinear Control mode is:
Wherein: v represents the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic;
α represents curve radian coefficient;
Δ x represents the physical location deviation of pinch roll transmission side and active side, span 5-15mm;
The physical location deviation of pinch roll transmission side and active side when Δ xoo represents Linear Control, Δ xoo≤10mm; K represents the Linear Control slope by response speed institute respective settings.
Further, transfer point when described Linear Control mode and nonlinear Control mode switch mutually is:
Wherein: Δ xo represents transfer point pinch roll being carried out to Linear Control and nonlinear Control;
α represents curve radian coefficient;
K represents the Linear Control slope by response speed institute respective settings.
Further, in described step (4), the deviation delta s between the current physical location of pinch roll and the maximum position of setting is less than or equal to 0.5mm, and when determining that oil cylinder remains static, then judges that pinch roll arrives the maximum position of setting.
Further, in described step (4), if the difference of the position in twice sweep cycle is less than setting value L before and after oil cylinder, then judge oil cylinder be in arrive setting maximum position after inactive state.
Further, in described step (1), the pinch roll transmission side of setting and the maximum position deviation of active side are 2mm.
Further, the span of L is: 0.1 ~ 0.5mm.
The beneficial effect that the present invention reaches: the present invention is in conjunction with the productive prospecting of continuous hot-rolling mill, gap preset when pinch roll before hot continuous rolling finish rolling controls abnormal improves, achieve automatic control during pinch roll malposition, the position control of pinch roll in Binding protein steel production process of the present invention, adopt the uninterrupted position control of one that straight line combines with the position positioning control mode of curve, the change of slope is controlled by curve radian coefficient and straight line, to reach the switching of two kinds of different control modes, and then realize the precision controlling of position deviation, simultaneously, the present invention also realizes controlling fast and accurately for scene in process of production, provide guarantee, meet the requirement of whole Automatic Positioning Control.
Accompanying drawing explanation
Fig. 1 is the schematic diagram before pinch roll is arranged on hot continuous rolling finish rolling;
Fig. 2 is the structural representation of pinch roll;
Fig. 3 is the schematic flow sheet of control method of the present invention;
Fig. 4 is pinch roll Linear Control of the present invention and nonlinear Control figure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further detailed explanation.
The structure of pinch roll as shown in Figure 2, comprise top roll and lower roll, top roll is fixing, contacts with the strip, always rotate during rolling, speed is consistent with the speed of band steel, and lower roll is moveable up and down, and the fore side of pinch roll, transmission side are equipped with two hydraulic cylinders respectively, pinch roll is by the Driven by Hydraulic Cylinder of transmission side and fore side, come the location of roll gap, each hydraulic cylinder respectively fills a position sensor, for measuring the physical location of hydraulic cylinder.
In actual production process; because the control of pinch roll roll gap is completed by hydraulic cylinder; when oil cylinder leakage of oil, when sensor fluctating etc. may make dephosphorization case pinch roll both sides height inconsistent, pinch roll is caused cannot to be normally pressed onto on band steel; and existing method adopts manual mode by after top roll is lifted; between up-down rollers, on pad, the measure such as cushion block processes temporarily, and the method needs to shut down process, and efficiency is low; and control accuracy is lower, speed is slow.
In order to solve now methodical deficiency, the present invention proposes a kind of autocontrol method of pinch roll position, as Fig. 3, method of the present invention comprises the steps:
(1) maximum position of pinch roll and the responsiveness of pinch roll transmission side and active side oil cylinder is set, and the position deviation amount that given pinch roll transmission side and active side allow;
(2) control pinch roll action by the action of PLC control pinch roll transmission side and active side oil cylinder, and detect the physical location of pinch roll transmission side and active side according to described in-oil cylinder position sensor;
(3) judge whether the physical location deviation of pinch roll transmission side and active side exceedes given position deviation amount, if do not exceeded, then adopt Linear Control mode to control the action of pinch roll; If exceeded, then nonlinear Control mode is adopted to control the action of pinch roll;
(4) judge whether pinch roll arrives the maximum position of setting, if do not arrived, then continue through oil cylinder and control pinch roll action; If arrived, then enter step (5);
(5) judge whether the position deviation of pinch roll transmission side and active side exceedes given departure, if exceeded, then continue through PLC and control cylinder action to control pinch roll action; If do not exceeded, then this time control to terminate.
The specific implementation process of the inventive method is as follows:
By the maximum position of default pinch roll action, and the position deviation amount that transmission side and fore side allow
,
, in the present embodiment, the position deviation of default transmission side and fore side
maximum deviation precision be 2mm, that is:
Δ
L=|L
WS-L
DS|≤2mm
148≤L
WS≤152
148≤L
DS≤152
Wherein: Δ
lrepresent the position deviation of pinch roll two side cylinder, play Anti-inclining restriction; L
wSrepresent active side position data, unit mm; L
dSrepresent transmission side position data, unit mm.
According to the maximum position of setting, and according to the actual act speed V of oil cylinder, the actuation time that oil cylinder arrives maximum position at such speeds can be obtained, that is:
T=L
max/V
Such as, pinch roll action is to the stroke L of maximum position
maxfor 150mm, the responsiveness V of its oil cylinder is 30mm/s, then range required time T is 5s, therefore in a control procedure of pinch roll position, in order to ensure that the responsiveness of oil cylinder can not exceed its actual responsiveness V, T>=5s actuation time that it arrives maximum position must be controlled.
Arrive the maximum position of setting at pinch roll before, physical location deviation according to pinch roll both sides adopts different control modes, if physical location deviation has exceeded the departure of setting, then adopts nonlinear Control mode, if do not exceed the departure of setting, then adopt Linear Control mode.The Linear Control mode that the present invention adopts and nonlinear Control mode are as shown in Figure 4.
Under linear control mode, cylinder action controls according to straight line below, that is:
v=K×Δx
Wherein: v is the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic; Δ x is the physical location deviation of pinch roll transmission side and active side, span 5-15mm; K is the Linear Control slope by response speed institute respective settings.
Under nonlinear Control mode, cylinder action controls according to curve below, that is:
Wherein: v is the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic; α is curve radian coefficient; Δ x is the physical location deviation of pinch roll transmission side and active side, span 5-15mm; The physical location deviation of pinch roll transmission side and active side when Δ xoo is Linear Control, Δ xoo≤10mm; K is the Linear Control slope by response speed institute respective settings.
Above-mentioned two kinds of incision transfer points controlling control mode are:
Concrete account form is as follows:
Solve:
Because require that Linear Control and nonlinear Control only have an intersection point, therefore,
and then try to achieve:
According to the maximum position of pinch roll transmission side and the current physical location of fore side and default, and according to the operating state of oil cylinder, judge whether pinch roll reaches the maximum position of setting, works as Δ
s< λ mm, and when oil cylinder remains static, then judge that pinch roll arrives the maximum position of setting.Δ
srepresent the maximum position of setting and the deviation of physical location, λ is error set point, and span is λ≤0.5mm.
The position of oil cylinder is judged, with Δ '
l=Δ
l1-Δ
l2represent the difference of the position in oil cylinder twice sweep cycle, Δ
l1represent the position of present scanning cycle, Δ
l2the position of scan cycle in expression, represents the alternate position spike in the twice sweep cycle of setting with L, when Δ '
lduring <L, show that oil cylinder remains static, the span of L is 0.1 ~ 0.5mm.In the present embodiment, the setting program scan period is 50ms, and the responsiveness of oil cylinder is 30mm/s, therefore the stroke of a scan period inner cylinder is 1.5mm, if the scan-data change of front and back two secondary program is less than 0.1mm, just think that oil cylinder has been in the inactive state after putting in place.
After judgement oil cylinder puts in place, if the deviation of the position data of the position data of active side oil cylinder and transmission side oil cylinder does not exceed the departure of setting, then this time control to terminate, otherwise restart the position control to pinch roll.
The present invention is in pinch roll gap preset process, different control modes is adopted according to diverse location deviation, by the combination of the position positioning control mode of linearity and non-linearity, the control program of the incision transfer point Δ xo of Linear Control and nonlinear Control is determined by α and K, and then realize the precision controlling of position deviation, simultaneously, combine to realize a kind of continual high precision position according to the feature of kind of the control mode of two in control procedure to control, to meet the requirement of whole Automatic Positioning Control.Wherein, the object of Linear Control is in order to quick response, and the object of nonlinear Control is to realize required precision.When method of the present invention to improve in prior art pinch roll malposition, the Artificial Control method of employing, improves control rate and control accuracy.
Claims (8)
1. a continuous hot-rolling mill finish rolling entrance pinch roll position control method, is characterized in that the method comprises the steps:
(1) maximum position of pinch roll and the responsiveness of pinch roll transmission side and active side oil cylinder is set, and the position deviation amount that given pinch roll transmission side and active side allow;
(2) control pinch roll action by the action of PLC control pinch roll transmission side and active side oil cylinder, and detect the physical location of pinch roll transmission side and active side according to described in-oil cylinder position sensor;
(3) judge whether the physical location deviation of pinch roll transmission side and active side exceedes given position deviation amount, if do not exceeded, then adopt Linear Control mode to control the action of pinch roll; If exceeded, then nonlinear Control mode is adopted to control the action of pinch roll;
(4) judge whether pinch roll arrives the maximum position of setting, if do not arrived, then continue through oil cylinder and control pinch roll action; If arrived, then enter step (5);
(5) judge whether the position deviation of pinch roll transmission side and active side exceedes given departure, if exceeded, then continue through PLC and control cylinder action to control pinch roll action; If do not exceeded, then this time control to terminate.
2. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1, is characterized in that in described step (3), described Linear Control mode is:
v=K×Δx
Wherein, v represents the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic;
Δ x represents the physical location deviation of pinch roll transmission side and active side, span 5-15mm;
K represents the Linear Control slope by response speed institute respective settings.
3. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1, is characterized in that in described step (3), described nonlinear Control mode is:
Wherein: v represents the speed setting value of cylinder action under diverse location deviation, determines according to oil cylinder characteristic;
α represents curve radian coefficient;
Δ x represents the physical location deviation of pinch roll transmission side and active side, span 5-15mm;
The physical location deviation of pinch roll transmission side and active side when Δ xoo represents Linear Control, Δ xoo≤10mm;
K represents the Linear Control slope by response speed institute respective settings.
4. the continuous hot-rolling mill finish rolling entrance pinch roll position control method according to any one of claim 2 ~ 3, is characterized in that transfer point when described Linear Control mode and nonlinear Control mode switch mutually is:
Wherein: Δ xo represents transfer point pinch roll being carried out to Linear Control and nonlinear Control;
α represents curve radian coefficient;
K represents the Linear Control slope by response speed institute respective settings.
5. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1, it is characterized in that in described step (4), deviation delta s between the current physical location of pinch roll and the maximum position of setting is less than or equal to 0.5mm, and when determining that oil cylinder remains static, then judge that pinch roll arrives the maximum position of setting.
6. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 5, it is characterized in that in described step (4), if the difference of the position in twice sweep cycle is less than setting value L before and after oil cylinder, then judge oil cylinder be in arrive setting maximum position after inactive state.
7. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1, is characterized in that in described step (1), the pinch roll transmission side of setting and the position deviation amount of active side are 2mm.
8. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 6, is characterized in that the span of L is: 0.1 ~ 0.5mm.
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|---|---|---|---|
| CN201410068191.5A CN104874611B (en) | 2014-02-27 | 2014-02-27 | Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410068191.5A CN104874611B (en) | 2014-02-27 | 2014-02-27 | Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109670223A (en) * | 2018-12-07 | 2019-04-23 | 山西太钢不锈钢股份有限公司 | A kind of method of grinding roller of vertical mill precision positioning |
| CN110756887A (en) * | 2019-10-31 | 2020-02-07 | 中冶华天南京工程技术有限公司 | Method for adjusting curve roller way of novel adjusting mechanism for pinch roll roller shaft before shearing |
| CN112024611A (en) * | 2020-07-30 | 2020-12-04 | 东北大学 | Tension deviation rectifying control method and device for pinch roll in thin strip continuous casting |
| CN112427463A (en) * | 2019-08-26 | 2021-03-02 | 宝山钢铁股份有限公司 | Roll gap compensation control method for inlet straightener of hot continuous rolling mill |
| CN113600614A (en) * | 2021-06-25 | 2021-11-05 | 武汉钢铁有限公司 | Method, device, medium and equipment for adjusting precision of pinch roll rocker arm |
Family Cites Families (4)
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| JP4389136B2 (en) * | 2000-02-24 | 2009-12-24 | 株式会社Ｉｈｉ | Control method and control device for hydraulic pinch roll |
| CN201257445Y (en) * | 2008-09-19 | 2009-06-17 | 武汉钢铁(集团)公司 | Band steel pinch-roll control device with position deviation eliminating function |
| CN102581067B (en) * | 2011-01-06 | 2014-07-23 | 宝山钢铁股份有限公司 | Hot-rolled coiler pinch roll controlling method |
| CN103203374B (en) * | 2013-04-19 | 2015-11-25 | 首钢京唐钢铁联合有限责任公司 | Calibration method for pinch roll of hot rolling coiler |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109670223A (en) * | 2018-12-07 | 2019-04-23 | 山西太钢不锈钢股份有限公司 | A kind of method of grinding roller of vertical mill precision positioning |
| CN112427463A (en) * | 2019-08-26 | 2021-03-02 | 宝山钢铁股份有限公司 | Roll gap compensation control method for inlet straightener of hot continuous rolling mill |
| CN110756887A (en) * | 2019-10-31 | 2020-02-07 | 中冶华天南京工程技术有限公司 | Method for adjusting curve roller way of novel adjusting mechanism for pinch roll roller shaft before shearing |
| CN110756887B (en) * | 2019-10-31 | 2020-12-22 | 中冶华天南京工程技术有限公司 | Adjusting method of curve roller way of pinch roll roller shaft adjusting mechanism before shearing |
| CN112024611A (en) * | 2020-07-30 | 2020-12-04 | 东北大学 | Tension deviation rectifying control method and device for pinch roll in thin strip continuous casting |
| CN112024611B (en) * | 2020-07-30 | 2021-09-14 | 东北大学 | Tension deviation rectifying control method and device for pinch roll in thin strip continuous casting |
| CN113600614A (en) * | 2021-06-25 | 2021-11-05 | 武汉钢铁有限公司 | Method, device, medium and equipment for adjusting precision of pinch roll rocker arm |
| CN113600614B (en) * | 2021-06-25 | 2023-02-28 | 武汉钢铁有限公司 | Method, device, medium and equipment for adjusting precision of rocker arm of pinch roll |
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| CN104874611B (en) | 2017-02-15 |
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