CN108188183A - A kind of method set for cold rolling processing line strip speed with strip location control - Google Patents

A kind of method set for cold rolling processing line strip speed with strip location control Download PDF

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Publication number
CN108188183A
CN108188183A CN201711318472.1A CN201711318472A CN108188183A CN 108188183 A CN108188183 A CN 108188183A CN 201711318472 A CN201711318472 A CN 201711318472A CN 108188183 A CN108188183 A CN 108188183A
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speed
strip
control
smooth
braking distance
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CN108188183B (en
Inventor
丁志宇
张哲�
王显科
曲强
袁野
白涛
刘冰
王洋
王斌
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DALIAN HUAYELIAN AUTOMATION Co Ltd
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DALIAN HUAYELIAN AUTOMATION Co Ltd
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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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Control Of Heat Treatment Processes (AREA)

Abstract

The present invention provides a kind of method set for cold rolling processing line strip speed with strip location control, and the control structure of strip position control method is tandem closed loop controlling structure, includes structure control as follows from inside to outside：(1) Acceleration Control ring, (2) speed control ring, (3) location control ring.The control structure of strip speed setting method is made of Acceleration Control ring and speed control ring；Increase location control ring in the control structure outer layer of strip speed setting method and form strip position control method.The setting value of strip speed setting method has smoothing function, can effectively avoid strip tension spikes as caused by responding distinct device in acceleration and deceleration, realize the collaboration stable operation of drive apparatus；Strip position control method by estimating strip braking distance, realize band end to end, the accurate positionin of weld seam.

Description

A kind of method set for cold rolling processing line strip speed with strip location control
Technical field
The present invention relates to cold rolling processing line strip speed control technology fields, more particularly to a kind of to be used for cold-rolling treatment tape Steel speed is set and the method for strip location control.
Background technology
Cold rolling processing line include cold-rolling pickling line, cold rolling degreasing line, cold-rolling continuous annealing line, cold-rolling galvanization line, cold rolling color-coating line, Crosscutting/rip cutting/packaging etc. is the important procedure of plank production.It is required according to technology arrangement, large-scale cold rolling handles line usually by entering The sections such as mouthful section, process section, outlet section composition, with kink into row buffering and connection between each section.
Strip speed control is one of cold rolling processing line key technology, and strip speed control is to realize tension force, kink The basis of the technology controlling and process such as control, balancing the load control.In the overall process that control requirement is run in strip constant speed and acceleration and deceleration, respectively Drive apparatus in section is both needed to identical linear velocity synthetic operation.
Strip speed setting is one of strip speed control core function, is responsible for calculating the linear velocity needed for each section technique Setting, is sent to drive apparatus by the speed setting value of calculating later, and driving motor realizes strip transmission.
Strip location control is one of strip speed control core function, be responsible for calculate band end to end, needed for weld and HAZ Linear velocity is set, and the speed setting value of calculating is sent to drive apparatus later, and driving motor realizes strip transmission.
Invention content
In order to solve the problems, such as described in background technology, the present invention provide it is a kind of for the setting of cold rolling processing line strip speed and The method of strip location control, the setting value of strip speed setting method have smoothing function, strip can effectively be avoided to add and subtract When fast as caused by responding distinct device tension spikes, realize the collaboration stable operation of drive apparatus；Strip position control method By estimating strip braking distance, realize band end to end, the accurate positionin of weld seam.
In order to achieve the above object, the present invention is realized using following technical scheme：
A kind of method set for cold rolling processing line strip speed with strip location control, strip position control method Control structure is tandem closed loop controlling structure, includes structure control as follows from inside to outside：
(1) Acceleration Control ring, (2) speed control ring, (3) location control ring；
The control structure of strip speed setting method is made of Acceleration Control ring and speed control ring；It is set in strip speed Determining the control structure outer layer of method increases location control ring composition strip position control method.
1st, strip speed setting method
The control structure of the strip speed setting method is the two close cycles of Acceleration Control inner ring-speed control outer shroud Control structure, specially：
Overall variable is defined first：Linear velocity setting value Vset, acceleration setting value Aset, smooth coefficients setting value Rset、 PLC program scan period Tcyc, linear velocity setup algorithm value VL；
The always input of the control structure of strip speed setting method is Vset, total output is VL；
(1) Acceleration Control ring
It is made of acceleration controller A-Controller, smooth amplitude limit link R-Limiter, integral element q1；Accelerate Degree controller A-Controller is designed as a proportional component, proportionality coefficient Kp, output is Ry；Smooth amplitude limit link R- The output of Limiter is RL；The output of integral element q1 is AL, the time of integration is set as 1s, and calculation formula is as follows：
In above-mentioned formula：N, n-1 represents PLC scannings n-th, n-1 period.
(2)：Speed control ring
By speed control V-Controller, acceleration amplitude limit link A-Limiter, Acceleration Control ring and integration ring Save q2 compositions；Speed control V-Controller is designed as a root curve link, and output is Ay；Acceleration amplitude limit link The output of A-Limiter is A1set；The output of integral element q2 is VL, the time of integration is set as 1s, and calculation formula is as follows：
2nd, strip position control method
The location control ring of strip position control method is the function extension of strip speed setting method control structure, in band On the basis of the setting of steel speed, increase braking Distance Calculation and positioning is completed moment arbitration functions and formed；Calculating process is specially：
Overall variable is defined first：Position setting value Pos_set, positioning actual value Pos_act, locating speed setting value Vpos, acceleration setting Aset, smooth coefficients setting Rset, PLC program scan period Tcyc；Linear velocity setup algorithm value VL；
Total input of the control structure of strip position control method is Pos_set, and total output is VL；
(1) braking Distance Calculation described in is specially：
Braking Distance Calculation is responsible for constantly estimating strip braking distance RD, according to the difference on positioning beginning opportunity, practical band Steel braking distance RD, which includes the braking distance s1 of speed accelerating sections, the braking distance s2 of the smooth descending branch 1 of speed, speed, to be fixed tiltedly One or more of combinations of the braking distance s4 of the smooth descending branch 2 of the braking distance s3 of rate descending branch, speed；
It is respectively speed accelerating sections, the smooth descending branch 1 of speed, the decline of speed fixed slope to define t1, t2, t3, t4 first Section, the smooth 2 required braking time of descending branch of speed；Define n1=t1/Tcyc, n2=t2/Tcyc, n3=t3/Tcyc, n4= t4/Tcyc；Define Δ VLFor speed setup algorithm value VLChange rate, i.e. Δ VL=VL(n)-VL(n-1)；Define Δ 2VLSpeed is set Calculated value VLChange rate change rate, i.e. Δ 2VL=VL(n)-2×VL(n-1)+VL(n-2)；Define Vmax、Vx1、Vx2Respectively strip The commencing speed of the smooth drop section 2 of end speed, speed of the smooth descending branch 1 of maximum speed, speed during positioning；
A) when positioning, which starts from speed, to be accelerated, i.e. Δ VL ＞ 0, the calculating of braking distance RD is as follows：
WhenWhen, Otherwise,
As Vx1 ＞ Vx2,Otherwise, n3=0 (13)
RD=s1+s2+s3+s4 (17)
B) when positioning starts from strip constant speed or the smooth decline of the speed i.e. end speed of the smooth decline of speed is not 0, That is Δ VL≤0&Δ2VL＜ 0, the calculating of braking distance RD are as follows：
Vmax=VL (18)
WhenWhen, Otherwise,
As Vx1 ＞ Vx2,Otherwise, n3=0 (22)
RD=s2+s3+s4 (26)
C) when positioning starts from the decline of speed fixed slope or the smooth decline of the speed i.e. end speed of the smooth decline of speed When being 0, i.e. Δ VL≤0&Δ2VL>=0, the calculating of braking distance RD is as follows
Vmax=VL (27)
WhenWhen, Vx1=Vmax,Otherwise, Vx1=0, Vx2=Vmax (28)
As Vx1 ＞ Vx2,Otherwise, n3=0 (29)
RD=s3+s4 (33)；
(2) moment judgement is completed in the positioning described in：
When constantly judging that positioning is completed according to positioning setting value Pos_set, positioning actual value Pos_act, braking distance RD It carves, provides linear velocity setting Vset, strip speed setting is sent to, finally calculates linear velocity setup algorithm value VL, calculation formula It is as follows：
ΔPos(n)=Pos_set(n)-Pos_act(n)-RD(n-1) (34)
As Δ Pos ＞ 0, Vset=Vpos(28),
Otherwise, Vset=0 (35).
Compared with prior art, the beneficial effects of the invention are as follows：
1st, a kind of method for being used for the setting of cold rolling processing line strip speed and strip location control of the invention, strip speed Setting method setting value has smoothing function, and strip tension as caused by responding distinct device in acceleration and deceleration can effectively be avoided to dash forward Become, realize the collaboration stable operation of drive apparatus.
2nd, a kind of method for being used for the setting of cold rolling processing line strip speed and strip location control of the invention, strip positioning Control method by estimating strip braking distance, realize band end to end, the accurate positionin of weld seam.
Description of the drawings
Fig. 1 is a kind of for the setting of cold rolling processing line strip speed and the strip of the method for strip location control of the present invention Speed sets schematic diagram；
Fig. 2 is a kind of for the setting of cold rolling processing line strip speed and the positioning of the method for strip location control of the present invention Control principle drawing；
Fig. 3 is a kind of for the setting of cold rolling processing line strip speed and the strip of the method for strip location control of the present invention Auditory localization cues figure.
Specific embodiment
Specific embodiment provided by the invention is described in detail below in conjunction with attached drawing.
A kind of method set for cold rolling processing line strip speed with strip location control, strip position control method Control structure is tandem closed loop controlling structure, includes structure control as follows from inside to outside：
(1) Acceleration Control ring, (2) speed control ring, (3) location control ring；
The control structure of strip speed setting method is made of Acceleration Control ring and speed control ring；It is set in strip speed Determining the control structure outer layer of method increases location control ring composition strip position control method.
1st, strip speed setting method
As shown in Figure 1, the control structure of the strip speed setting method is outside Acceleration Control inner ring-speed control The double-closed-loop control structure of ring, specially：
Overall variable is defined first：Linear velocity setting value Vset, acceleration setting value Aset, smooth coefficients setting value Rset、 PLC program scan period Tcyc, linear velocity setup algorithm value VL；
The always input of the control structure of strip speed setting method is Vset, total output is VL；
(1) Acceleration Control ring
It is made of acceleration controller A-Controller, smooth amplitude limit link R-Limiter, integral element q1；Accelerate Degree controller A-Controller is designed as a proportional component, proportionality coefficient Kp, output is Ry；Smooth amplitude limit link R- The output of Limiter is RL；The output of integral element q1 is AL, the time of integration is set as 1s, and calculation formula is as follows：
In above-mentioned formula：N, n-1 represents PLC scannings n-th, n-1 period.
(2)：Speed control ring
By speed control V-Controller, acceleration amplitude limit link A-Limiter, Acceleration Control ring and integration ring Save q2 compositions；Speed control V-Controller is designed as a root curve link, and output is Ay；Acceleration amplitude limit link The output of A-Limiter is A1set；The output of integral element q2 is VL, the time of integration is set as 1s, and calculation formula is as follows：
2nd, strip position control method
As shown in Fig. 2, the location control ring of strip position control method is the work(of strip speed setting method control structure It can extend, on the basis of strip speed setting, increase braking Distance Calculation and positioning completion moment arbitration functions form；It calculates Process is specially：
Overall variable is defined first：Position setting value Pos_set, positioning actual value Pos_act, locating speed setting value Vpos, acceleration setting Aset, smooth coefficients setting Rset, PLC program scan period Tcyc；Linear velocity setup algorithm value VL；
Total input of the control structure of strip position control method is Pos_set, and total output is VL；
(1) braking Distance Calculation described in is specially：
Braking Distance Calculation is responsible for constantly estimating strip braking distance RD, as shown in figure 3, according to positioning beginning opportunity not Together, the braking distance s1 of practical strip braking distance RD including speed accelerating sections, the smooth descending branch 1 of speed braking distance s2, One or more of combinations of the braking distance s4 of the smooth descending branch 2 of the braking distance s3 of speed fixed slope descending branch, speed；
It is respectively speed accelerating sections, the smooth descending branch 1 of speed, the decline of speed fixed slope to define t1, t2, t3, t4 first Section, the smooth 2 required braking time of descending branch of speed；Define n1=t1/Tcyc, n2=t2/Tcyc, n3=t3/Tcyc, n4= t4/Tcyc；Define Δ VLFor speed setup algorithm value VLChange rate, i.e. Δ VL=VL(n)-VL(n-1)；Define Δ 2VLSpeed is set Calculated value VLChange rate change rate, i.e. Δ 2VL=VL(n)-2×VL(n-1)+VL(n-2)；Define Vmax、Vx1、Vx2Respectively strip The commencing speed of the smooth drop section 2 of end speed, speed of the smooth descending branch 1 of maximum speed, speed during positioning；
A) when positioning, which starts from speed, to be accelerated, i.e. Δ VL ＞ 0, the calculating of braking distance RD is as follows：
WhenWhen, Otherwise,
As Vx1 ＞ Vx2,Otherwise, n3=0 (13)
RD=s1+s2+s3+s4 (17)
B) when positioning starts from strip constant speed or the smooth decline of the speed i.e. end speed of the smooth decline of speed is not 0, That is Δ VL≤0&Δ2VL＜ 0, the calculating of braking distance RD are as follows：
Vmax=VL (18)
WhenWhen, Otherwise,
As Vx1 ＞ Vx2,Otherwise, n3=0 (22)
RD=s2+s3+s4 (26)
C) when positioning starts from the decline of speed fixed slope or the smooth decline of the speed i.e. end speed of the smooth decline of speed When being 0, i.e. Δ VL≤0&Δ2VL>=0, the calculating of braking distance RD is as follows
Vmax=VL (27)
WhenWhen, Vx1=Vmax,Otherwise, Vx1=0, Vx2=Vmax (28)
As Vx1 ＞ Vx2,Otherwise, n3=0 (29)
RD=s3+s4 (33)；
(2) moment judgement is completed in the positioning described in：
When constantly judging that positioning is completed according to positioning setting value Pos_set, positioning actual value Pos_act, braking distance RD It carves, provides linear velocity setting Vset, strip speed setting is sent to, finally calculates linear velocity setup algorithm value VL, calculation formula It is as follows：
ΔPos(n)=Pos_set(n)-Pos_act(n)-RD(n-1) (34)
As Δ Pos ＞ 0, Vset=Vpos(28),
Otherwise, Vset=0 (35).
Following parameter setting is carried out in specific implementation process：
1st, strip speed is set：
Input：Linear velocity sets Vset：30~700, unit：m/min；
Acceleration sets Aset：15~60, unit：m/min/s；
Smooth coefficients set Rset：2~4；
PLC program scan period Tcyc：0.03~0.05, unit：s；
Acceleration controller A-Controller：KP=1；
Output：Linear velocity setup algorithm value VL：Unit：m/min.
2nd, strip location control：
Input：Position setting value Pos_set and positioning actual value Pos_act：Unit：m；
Locating speed setting value Vps：30~200, unit：m/min；
Acceleration sets Aset：15~60, unit：m/min/s；
Smooth coefficients set Rset：2~4；
PLC program scan period Tcyc：0.03~0.05, unit：s；
Output：Linear velocity setup algorithm value VL：Unit：m/min.
Above example is being implemented down based on the technical solution of the present invention, gives detailed embodiment and tool The operating process of body, but protection scope of the present invention is not limited to the above embodiments.Method therefor is such as without spy in above-described embodiment It is conventional method not mentionlet alone bright.

Claims (2)

  1. It is 1. a kind of for the setting of cold rolling processing line strip speed and the method for strip location control, which is characterized in that strip positions The control structure of control method is tandem closed loop controlling structure, includes structure control as follows from inside to outside：
    (1) Acceleration Control ring, (2) speed control ring, (3) location control ring；
    Wherein：The control structure of strip speed setting method is made of Acceleration Control ring and speed control ring；
    Location control ring is the function extension of strip speed setting method control structure, on the basis of strip speed setting, is increased Braking Distance Calculation and positioning is added to complete moment arbitration functions and form；Calculating process is specially：
    Overall variable is defined first：Position setting value Pos_set, positioning actual value Pos_act, locating speed setting value VposPlus Speed sets Aset, smooth coefficients setting Rset, PLC program scan period Tcyc；Linear velocity setup algorithm value VL；
    Total input of the control structure of strip position control method is Pos_set, and total output is VL；
    (1) braking Distance Calculation described in is specially：
    Braking Distance Calculation is responsible for constantly estimating strip braking distance RD, according to the difference on positioning beginning opportunity, practical band steel Dynamic distance RD is included under the braking distance s1 of speed accelerating sections, the braking distance s2 of the smooth descending branch 1 of speed, speed fixed slope One or more of combinations of the braking distance s3 of section, the braking distance s4 of the smooth descending branch 2 of speed are dropped；
    It is respectively speed accelerating sections, the smooth descending branch 1 of speed, speed fixed slope descending branch, speed to define t1, t2, t3, t4 first Spend smooth 2 required braking time of descending branch；Define n1=t1/Tcyc, n2=t2/Tcyc, n3=t3/Tcyc, n4=t4/ Tcyc；Define Δ VLFor speed setup algorithm value VLChange rate, i.e. Δ VL=VL(n)-VL(n-1)；Define Δ 2VLSpeed setup algorithm Value VLChange rate change rate, i.e. Δ 2VL=VL(n)-2×VL(n-1)+VL(n-2)；Define Vmax、Vx1、Vx2Respectively strip positions The commencing speed of the smooth drop section 2 of end speed, speed of the smooth descending branch 1 of maximum speed, speed of period；
    A) when positioning, which starts from speed, to be accelerated, i.e. Δ VL ＞ 0, the calculating of braking distance RD is as follows：
    WhenWhen, Otherwise,
    As Vx1 ＞ Vx2,Otherwise, n3=0 (13)
    RD=s1+s2+s3+s4 (17)
    B) when positioning starts from strip constant speed or the smooth decline of the speed i.e. end speed of the smooth decline of speed is not 0, i.e. Δ VL ≤0&Δ2VL＜ 0, the calculating of braking distance RD are as follows：
    Vmax=VL (18)
    WhenWhen, Otherwise,
    As Vx1 ＞ Vx2,Otherwise, n3=0 (22)
    RD=s2+s2+s4 (26)
    C) when the end speed that positioning starts from the decline of speed fixed slope or the i.e. smooth decline of speed of the smooth decline of speed is 0 When, i.e. Δ VL≤0&Δ2VL>=0, the calculating of braking distance RD is as follows
    Vmax=VL (27)
    WhenWhen, Vx1=Vmax,Otherwise, Vx1=0, Vx2=Vmax (28)
    As Vx1 ＞ Vx2,Otherwise, n3=0 (29)
    RD=s3+s4 (33)；
    (2) moment judgement is completed in the positioning described in：
    Constantly judge that the moment is completed in positioning according to positioning setting value Pos_set, positioning actual value Pos_act, braking distance RD, give Go out linear velocity setting Vset, strip speed setting is sent to, finally calculates linear velocity setup algorithm value VL, calculation formula is as follows：
    ΔPos(n)=Pos_set(n)-Pos_act(n)-RD(n-1) (34)
    As Δ Pos ＞ 0, Vset=Vpos(28),
    Otherwise, Vset=0 (35).
  2. 2. a kind of method set for cold rolling processing line strip speed with strip location control according to claim 1, It is characterized in that, the control structure of the strip speed setting method is the double of Acceleration Control inner ring-speed control outer shroud Closed loop controlling structure, specially：
    Overall variable is defined first：Linear velocity setting value Vset, acceleration setting value Aset, smooth coefficients setting value Rset, PLC journeys Sequence scan period Tcyc, linear velocity setup algorithm value VL；
    The always input of the control structure of strip speed setting method is Vset, total output is VL；
    (1) Acceleration Control ring
    It is made of acceleration controller A-Controller, smooth amplitude limit link R-Limiter, integral element q1；Acceleration control Device A-Controller processed is designed as a proportional component, proportionality coefficient Kp, output is Ry；Smooth amplitude limit link R-Limiter Output be RL；The output of integral element q1 is AL, the time of integration is set as 1s, and calculation formula is as follows：
    In above-mentioned formula：N, n-1 represents PLC scannings n-th, n-1 period；
    (2)：Speed control ring
    By speed control V-Controller, acceleration amplitude limit link A-Limiter, Acceleration Control ring and integral element q2 Composition；Speed control V-Controller is designed as a root curve link, and output is Ay；Acceleration amplitude limit link A- The output of Limiter is A1set；The output of integral element q2 is VL, the time of integration is set as 1s, and calculation formula is as follows：
CN201711318472.1A 2017-12-12 2017-12-12 A method of for the setting of cold rolling processing line strip speed and strip location control Active CN108188183B (en)

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CN112180915A (en) * 2020-09-16 2021-01-05 哈尔滨工业大学（威海） ROS-based double-thrust unmanned ship motion control system and control method
WO2023173673A1 (en) * 2022-03-18 2023-09-21 中冶南方工程技术有限公司 Control method for automatically adjusting inlet and outlet speeds of cold rolling production line

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WO2023173673A1 (en) * 2022-03-18 2023-09-21 中冶南方工程技术有限公司 Control method for automatically adjusting inlet and outlet speeds of cold rolling production line

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