CN109731920A - Loop control method, device, terminal equipment and computer readable storage medium - Google Patents
Loop control method, device, terminal equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a loop control method, a loop control device, terminal equipment and a computer readable storage medium, wherein the loop control method comprises the following steps: when the lower rolling mill is detected to bite the strip steel, applying a loop starting torque to the loop to obtain a loop feedback angle, calculating the actual angular velocity and the actual angular acceleration of the loop according to the loop feedback angle, and judging whether the loop is in contact with the strip steel or not based on a preset contact judgment rule and the actual angular acceleration; when the contact between the loop and the strip steel is judged, the loop lifting moment is cancelled, loop detection tension is obtained, a rule is determined based on a constructed loop height high-output variable integral function and a variable integral parameter, and the loop height high-output of the loop is dynamically adjusted according to a loop feedback angle, an actual angular speed and the loop detection tension; and controlling the sleeve falling. According to the scheme, the height output of the loop is dynamically controlled according to three indexes of angle, angular speed and detection tension by the variable integral function, so that the problems of steel piling and narrowing of the virtual loop and the problems of vibration and overshoot of adjustment caused by too fast loop lifting and dropping speeds are avoided.
Description
Technical field
The present invention relates to hot continuous rolling technical field more particularly to a kind of loop control method, device, terminal device and calculating
Machine readable storage medium storing program for executing.
Background technique
When hot continuous rolling produces the superhard strip of thin gauge (such as container plate), it is easy after F7 rack stings steel and coiling machine is built and opened
The Shi Fasheng accident of rolling brokenly, average continuous production can occur 5~10 head accidents of rolling brokenly for 8 hours, seriously restrict production stability.
There are many reason for causing milling train to roll brokenly, for example furnace temp control is uneven, second level machine computational accuracy deviation,
AGC is adjusted and the concussion of loop.Loop is mainly used for balance front and back rack second flow, and provides appropriate tension-proof rolling and stablize
Property.In hot rolling production process, the adjustment of rolling mill AGC, the set amount adjustment of loop, tension adjustment, that coiling machine builds Zhang Douhui is mutual
Coupled interference, will lead to that loop tension is out of control to be rolled brokenly when serious.In order to avoid occurring rolling brokenly, need to carry out tower-loop control excellent
Change, there are many PI loop optimal control methods at present.Such as work is reduced by the way that proper ratio gain parameter is arranged according to set amount difference
Cover the shake of adjustment process.But do not consider set amount adjust when loop cylinder action response whether matching problem, cause loop rise
The empty set of set, the technical problems such as hightension drawing down when conforming to a conventional pattern.
Summary of the invention
The main object of the present invention is to provide a kind of loop control method, device, terminal device and computer-readable storage
Medium, it is intended to solve the problems, such as that loop plays the too fast caused empty set piling of steel of set, the speed that conforms to a conventional pattern and drawing down.
To achieve the above object, loop control method proposed by the present invention, comprising the following steps:
When detecting the next milling train occlusion strip, set torque is applied to loop, it is corresponding persistently to obtain the loop
Loop feedback angle calculates the actual angular speed and actual angular acceleration of the loop, and base according to the loop feedback angle
Judge whether the loop contacts with the strip in preset contact judgment rule and the actual angular acceleration；
When judging that the loop and the strip contact, set torque has been cancelled, loop has been obtained and detects tension, and be based on
The set amount height output of the loop of building becomes integral function and preset change integral parameter determines rule, according to the institute of acquisition
State the set amount height that loop feedback angle, the actual angular speed and the loop detect loop described in tension dynamic regulation
Output；Control conforms to a conventional pattern.
Preferably, the actual angular speed and actual angular acceleration that the loop is calculated according to the loop feedback angle
Include:
The loop feedback angle is subjected to differential calculation to the time and obtains the actual angular speed, is by using parameter
T seconds low-pass filters after being filtered by the actual angular speed to the acceleration that the time differentiates to obtaining
The actual angular acceleration.
Preferably, it is described based on preset contact judgment rule and the actual angular acceleration judge the loop whether with
The strip contact, comprising:
The detection torque of the loop is obtained from moment inspecting device, the moment inspecting device rises for detecting the loop
The torque generated during set；
The loop gravitational moment of strip gravitational moment, the loop based on the strip and the loop and the strip
The sum of rotary inertia calculates comparison angular acceleration；
Judge whether the difference of the comparison angular acceleration and the actual angular acceleration is greater than the first preset threshold, works as institute
When stating the difference of comparison angular acceleration and the actual angular acceleration greater than the first preset threshold, then the loop and institute are judged
State strip contact.
Preferably, the set amount height output of the loop becomes the building of integral function, comprising:
Obtain the real-time set amount L of the loopfbk, and according to the loop feedback angle θfbk, preset target angle θref
With preset target set amount Lref, construct the set amount height output change integral function of the loop are as follows:
Wherein ΔL=Lref-Lfbk, KpFor proportion adjustment gain,For integral adjustment gain, C
For variable integration parameter.
Preferably, the change integral parameter determines that rule includes:
The relationship for judging the second preset threshold of the actual angular acceleration and setting, when the actual angular acceleration is less than
When the second preset threshold, the variable integration parameter C is determined are as follows:
C=1；
When the actual angular acceleration is greater than or equal to the second preset threshold, the loop feedback angle θ is judgedfbkWith
Preset target angle θrefRelationship, the size of the actual angular speed v and the loop detect tension PfbkWith it is preset
Strip refers to tension PrefRelationship, and determine the variable integration parameter C according to following conditions:
When the condition that meets 1: θfbk<θref- 2, v > 3 °/s, Pfbk≤0.9PrefWhen, determine the variable integration parameter C are as follows:
C=-d1v/ΔL,s.t.:-8<C<0,0.5≤d1≤3；
When the condition that meets 2: θfbk>θref+ 2, v < -3 °/s, Pfbk≥1.1PrefWhen, determine the variable integration parameter C are as follows:
C=-d2v/ΔL,s.t.:-1<C<0,0≤d2≤1；
When being both unsatisfactory for condition 1 or being unsatisfactory for condition 2, the variable integration parameter C is determined are as follows:
C=1.
Preferably, the control, which conforms to a conventional pattern, includes:
It is defeated to the set amount height of the loop when detecting the upper milling train of the tail portion of the strip close to the loop
The set amount height output of the loop is controlled according to offset rule is conformed to a conventional pattern out, the offset rule that conforms to a conventional pattern is according to building
The output of set amount height become the set amount height output that integral function output controls the loop, and variable integration parameter C=5.
Preferably, in the non-rolling sequence of the loop, play set stage, stable rolling stage, batch and build a stage and fall
Small set stage, the loop control method further include:
According to the rolling thickness of the strip, according to preset servo valve gain compensation rule in each stage to the work
The servo valve proportionality coefficient of the hydraulic cylinder servo valve of set exports the compensated servo after carrying out the gain compensation of corresponding size
Valve proportionality coefficient.
Preferably, according to the rolling thickness of the strip, according to preset servo valve gain compensation rule in each stage
The servo valve proportionality coefficient of the hydraulic cylinder servo valve of the loop is carried out to export after the gain compensation of corresponding size compensated
The servo valve proportionality coefficient, comprising:
The thickness value h for obtaining the strip judges the size of the thickness value h of the strip；
When the thickness value h of the strip meets h < 2.5mm, compensated servo valve ratio system is exported according to the following formula
Number:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value；
When the thickness value h of the strip meets h >=2.5mm, the compensated servo valve ratio is exported according to the following formula
Coefficient:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value.
The present invention also provides a kind of loop control device/terminal device, including memory, processor and it is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
The step of existing method described above.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
The step of machine program, the computer program realizes method described above when being executed by processor.
In the present invention, first when detecting the next milling train occlusion strip, set torque is applied to loop, and according to acquisition
Loop feedback angle calculate loop actual angular speed and actual angular acceleration, based on contact judgment rule whether judge loop
It contacts with the strip, when judging that loop contacts with the strip, has cancelled set torque, obtain strip and measure tension, and based on building
Set amount height output become integral function and become integral determine rule, according to loop feedback angle, actual angular speed, the band of acquisition
Steel measures the set amount height output of tension dynamic regulation loop, and controls and conform to a conventional pattern.In the technical scheme, it is examined first when playing set
Loop is surveyed whether contact with the strip, after judging that loop contacts with the strip, by become integral function according to angle, angular speed and
Three index dynamic control looper height outputs of tension are detected, can preferably control loop plays set and the output of set amount, avoids
The problem of loop plays the problem of too fast caused empty set piling of steel of set, the speed that conforms to a conventional pattern and drawing down and adjusts concussion, overshoot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram for the loop control method that the embodiment of the present invention one provides；
Fig. 2 is the implementation process schematic diagram of loop control method provided by Embodiment 2 of the present invention；
Fig. 3 is the schematic diagram for the loop control device that the embodiment of the present invention three provides；
Fig. 4 is loop control device/terminal device hardware structural diagram that the embodiment of the present invention four provides.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In the specific implementation, terminal device described in the embodiment of the present invention is including but not limited to such as with the sensitive table of touch
Mobile phone, laptop computer or the tablet computer in face (for example, touch-screen display and/or touch tablet) etc it is other
Portable device.It is to be further understood that in certain embodiments, the equipment is not portable communication device, but is had
The desktop computer of touch sensitive surface (for example, touch-screen display and/or touch tablet).
In following discussion, the terminal device including display and touch sensitive surface is described.However, should manage
Solution, terminal device may include that one or more of the other physical User of such as physical keyboard, mouse and/or control-rod connects
Jaws equipment.
Terminal device supports various application programs, such as one of the following or multiple: drawing application program, demonstration application
Program, word-processing application, website creation application program, disk imprinting application program, spreadsheet applications, game are answered
With program, telephony application, videoconference application, email application, instant messaging applications, forging
Refining supports application program, photo management application program, digital camera application program, digital camera application program, web-browsing to answer
With program, digital music player application and/or video frequency player application program.
At least one of such as touch sensitive surface can be used in the various application programs that can be executed on the terminal device
Public physical user-interface device.It can be adjusted among applications and/or in corresponding application programs and/or change touch is quick
Feel the corresponding information shown in the one or more functions and terminal on surface.In this way, terminal public physical structure (for example,
Touch sensitive surface) it can support the various application programs with user interface intuitive and transparent for a user.
In addition, in the description of the present invention, term " first ", " second " etc. are only used for distinguishing description, and should not be understood as
Indication or suggestion relative importance.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is the implementation process schematic diagram for the loop control method that the embodiment of the present invention one provides, this method packet referring to Fig. 1
It includes:
S1: when detecting the next milling train occlusion strip, set torque has been applied to loop, it is corresponding persistently to obtain the loop
Loop feedback angle, the actual angular speed and actual angular acceleration of the loop are calculated according to the loop feedback angle, and
Judge whether the loop contacts with the strip based on preset contact judgment rule and the actual angular acceleration；
In the present embodiment, the executing subject of loop control method is loop control device.Loop control device can be collection
At the continuous hot-rolling mill system for having control function, it is also possible to individually control equipment, does not limit herein, as long as being able to achieve to loop
Control.Loop is between the next milling train and upper milling train, strip follow transportation system sequentially pass through upper milling train and
The next milling train, loop are in the lower section of strip.When detecting the next milling train occlusion strip, loop control device applies to loop
Set torque is played, under the action of playing set torque, loop is lifted and close towards strip.It should be noted that loop includes eyelid retractor
With the loop back roll being arranged at the top of eyelid retractor, eyelid retractor can lift towards strip direction or land far from strip direction, loop back roll
It follows support rod to move, and is contacted with the strip by loop back roll.
During loop is close to strip, loop control device persistently obtains loop feedback angle and (is denoted as θfbk), loop
Feedback angle is that eyelid retractor lifts angle.After loop control device gets loop feedback angle, angle is fed back according to loop
Spend θfbkCalculate the actual angular speed (being denoted as v) and actual angular acceleration (being denoted as α) of loop.Loop feedback angle is by angular coding
Device measures.Preferably, loop control device is anti-by loop after the loop feedback angle for getting loop in angular encoder
Present angle, θfbkDifferential calculation is carried out to the time and obtains actual angular speed v=d θfbk/ dt, and the low pass for being t seconds by using parameter
Filter is to obtaining the reality after being filtered by the actual angular speed to the acceleration that the time differentiates
Angular acceleration.Wherein, the preferably use parameter t of low-pass filter is 0.03s, and the control transmission function of low cylinder filter is G
(S)=1/ (1+0.03s) (S is complex function).
By the loop feedback angle θ gotfbkAfter calculating loop actual angular acceleration α, judged based on preset contact
Rule and actual angular acceleration α judge whether loop contacts with the strip.Specifically, preset contact loop control device judgement rule
The detection torque T of the loop is then obtained from moment inspecting device for looper controllerfbk, moment inspecting device is used to detect described
Loop plays the torque generated during set.Then, the strip gravitational moment T based on stripSW, loop loop gravitational moment TLWAnd
The sum of the rotary inertia of loop and strip J calculates comparison angular accelerationref, αref=(Tfbk-TSW-TLW)/J.Judge the comparison
Angular accelerationrefWhether it is greater than the first preset threshold with the difference of the actual angular acceleration α, that is, judges αref- α > N whether at
It is vertical, when the difference of the comparison angular acceleration and the actual angular acceleration is greater than the first preset threshold N, then judge described
Loop is contacted with the strip.In the present embodiment, the first preset threshold N is equal to 100.In other embodiments, first is default
Threshold value N can also be other numerical value, such as 99 or 101.
In addition, loop control device applied to loop set torque after, judge loop whether strip contact before, also wrap
Include record loop rise set time t, when loop rise set a time t be greater than third predetermined threshold value M when, just judge loop whether with band
Steel contact.In the present embodiment, third predetermined threshold value M is equal to 0.2s.In other embodiments, third predetermined threshold value M can be with
For other numerical value, such as 0.21s, do not limit herein.
S2: when judging that the loop and the strip contact, having cancelled set torque, obtains loop and detects tension, and
Become integral function based on the set amount height output of the loop of building and preset change integral parameter determines rule, according to acquisition
The loop feedback angle, the actual angular speed and the loop detection tension dynamic regulation described in loop set amount
Height exports；
When loop control device judges that loop contacts with the strip, loop control device issues cancel an order to have cancelled
Cover torque.At this point, loop control device obtains loop detection tension P in real timefbk, loop detection tension PfbkIt can be according to loop liquid
Calculation of pressure comes out or is directly detected by loop pressure head, it is notable that the unit that loop detects tension is megapascal.In order to
Guarantee that strip will not be pulled open or be stacked during the rolling process, tension P is referred to using the strip of settingrefTo limit loop detection
The magnitude range of tension.Strip refers to tension PrefPreferably 3MPa~40MPa, as 5MPa, 10MPa, 15MPa, 20MPa,
25MPa, 30MPa, 35MPa etc., strip refer to tension PrefIt is determined according to rolling steel grade, steel strip thickness and shelf position.
Conventional set amount PI control in integral play the role of control loop return to setting value, when loop is far from target angle
When, integral starting Pasitive Regulation Effect of Genseng, when loop is towards target angle θrefWhen movement, integral parameter will accelerate this process, such as
Fruit movement is getting faster final overshoot concussion, while owing hypertension in liter process covered an aggravation loop, opens during dropping set
Power is excessive.In the present embodiment, in order to avoid overshoot concussion, PI control is carried out by the way of becoming integral.Tower-loop control dress
The set amount height output for setting building loop in advance becomes integral function.Specifically building process are as follows: obtain the real-time set amount of loop
Lfbk, and according to loop feedback angle θfbk, preset target angle θrefWith preset target set amount Lref, construct the loop
The output of set amount height becomes integral function are as follows:
Wherein ΔL=Lref-Lfbk, KpFor proportion adjustment gain,For integral adjustment gain, C is
Variable integration parameter.
Set amount height output in the present embodiment becomes set amount height defeated integral function of the integral function compared to routine PI control
For, increase variable integration parameter C, the value of variable integration parameter C is according to the loop feedback angle θ of acquisitionfbk, preset work
Cover target angle θref, calculated actual angular speed v and loop detect tension PfbkTension P is referred to preset striprefReally
It is fixed, rather than fixed constant, loop angle change, angular speed variation and rack changes in flow rate can be fully taken into account, compared to existing
Some only considers the case where angle change, can guarantee that adjustment of loop is more flexible, and reduces the appearance for the problems such as overshoot is shaken.
In a preferred embodiment, preset change integral parameter determines rule are as follows:
The relationship for judging the second preset threshold of the actual angular acceleration α and setting, when the actual angular acceleration is small
When the second preset threshold, the variable integration parameter C is determined are as follows: C=1；
It should be pointed out that the second preset threshold is preferably 0 (can also be other reasonable values, this will not be repeated here), i.e.,
As α < 0, C=1；
When the actual angular acceleration is greater than or equal to the second preset threshold, such as when α >=0, judge that the loop is anti-
Present angle, θfbkWith preset target angle θrefRelationship, the size of the actual angular speed v and the loop detect tension
PfbkTension P is referred to preset striprefRelationship, and determine the variable integration parameter C according to following conditions:
When the condition that meets 1: θfbk<θref- 2, v > 3 °/s, Pfbk≤0.9PrefWhen, determine the variable integration parameter C are as follows:
C=-d1v/ΔL,s.t.:-8<C<0,0.5≤d1≤3；
When the condition that meets 2: θfbk>θref+ 2, v < -3 °/s, Pfbk≥1.1PrefWhen, determine the variable integration parameter C are as follows:
C=-d2v/ΔL,s.t.:-1<C<0,0≤d2≤1；
When being both unsatisfactory for condition 1 or being unsatisfactory for condition 2, the variable integration parameter C is determined are as follows:
C=1.
In the present embodiment, when actual angular acceleration α is less than the second preset threshold, it is determined that C=1 is kept conventional
Setting, the first object controlled at this time is angle.When the actual angular acceleration α of loop is greater than or equal to the second preset threshold,
By judging loop feedback angle θfbkWith preset target angle θrefRelationship, actual angular speed v size and loop inspection
Survey tension PfbkTension P is referred to striprefRelationship, the size of C is determined according to condition 1 and condition 2.In loop feedback angle
Lower than target angle, the direction of motion is towards target angle, and when angular speed is per second less than 3 °, loop servo-system be can satisfy
It is required that guaranteeing not generating empty set；When angular speed is per second greater than 3 °, second flow is varied widely between illustrating rack, because than
Example, which is adjusted, to be existed, and loop is acted toward any direction, and proportion adjustment all plays the role of deceleration, is adjusted when proportion adjustment slows down to loop
It, at this time can be by variable integration parameter as speed regulation means when section failure.
The specific value being previously mentioned in above preferred embodiment is intended only as a preferred embodiment and carries out value
Illustrate, such as θ in condition 1fbk<θref- 2, v > 3 °/s, Pfbk≤0.9PrefIn the value of " 2 " can also be according to the actual situation by other
Numerical value replacement such as 2.5, " 3 °/s " can be according to the actual situation by other numerical value replacement such as 3.5 °/s, and " 0.9 " can be according to reality
Situation is by other numerical value replacement such as 0.89.Those skilled in the art carry out reasonable value change based on the open of the present embodiment
Change, be within the scope of the invention, no longer citing repeats one by one herein.
S3: control conforms to a conventional pattern.When detecting the upper milling train of the tail portion of strip close to loop, control loop conforms to a conventional pattern.Control
Loop conform to a conventional pattern act before also need to carry out loop to fall the control of small set.In the present embodiment, the small set control in tail portion is executed, this
The small set gain compensation in the tail portion Shi Qidong, prevents the tail portion temperature difference from causing tail portion loop that can not fall whipping accident greatly, specially to institute
The set amount height output for stating loop controls the set amount height output of the loop according to offset rule is conformed to a conventional pattern, described to conform to a conventional pattern
Offset rule is that the set amount height for controlling the loop according to the output change integral function output of the set amount height of building exports, at this time
Variable integration parameter C value is greater than 1, such as C=5.Other values can also be taken in other embodiments.
After falling small set control, loop enters the movement that conforms to a conventional pattern, and controls the loop of loop according to the conventional control that conforms to a conventional pattern at this time,
This will not be repeated here.
The loop control method that the present embodiment proposes, whether detection loop contacts with the strip when playing set, when judging to live
After set contacts with the strip, by becoming integral function according to angle, angular speed and measurement three dynamic looper heights of index of tension
Output, can preferably control loop plays set and the output of set amount, avoid loop rise set, the speed that conforms to a conventional pattern it is too fast caused by empty set heap
The problem of the problem of steel and drawing down and adjusting concussion, overshoot.
It referring to fig. 2, is the implementation process schematic diagram of loop control method provided by Embodiment 2 of the present invention, this method includes
Step S1 ' to S4 ', wherein step S1 ' to S3 ' it is identical as step S1 to S3 this will not be repeated here, unlike further include S4 ', tool
Body S4 ' includes:
S4 ': the loop non-rolling sequence, play set stage, stable rolling stage, batch and build a stage and fall small set
Stage, according to the rolling thickness of the strip, according to preset servo valve gain compensation rule in each stage to the loop
Hydraulic cylinder servo valve servo valve proportionality coefficient carry out the gain compensation of corresponding size after export the compensated servo valve
Proportionality coefficient.
The tower-loop control stage can be subdivided into the next stage: loop is attached in height of rolling line before the next milling train stings steel
Closely, for angle generally at 10 °~12 °, loop is in non-rolling sequence；After the next milling train of loop stings steel, loop lifts immediately,
Strip top between upper milling train and the next milling train is directly built and is opened, loop has been in the set stage；Subsequent loop enters stable rolling rank
Section makes loop reach object height, in the range of 20 °~24 °, adjusts loop oil cylinder by adjusting upper rolling-mill housing speed
Pressure guarantees that loop tension reaches setting value；Strip goes out after milling train to enter the process of coiling machine, and loop, which is in batch, builds a stage,
Time period is stung steel and built to coiling machine for coiler pinch-roll opens, and completes within the time 2 to 4 seconds；When slab tail portion is upper close to loop
Before rolling-mill housing 2 seconds to 0.5 second, 5 °~8 ° of decline of the control of loop angle, it is referred to as to fall small set control；Pass through work in slab tail portion
0.3 second before set forebay, loop enters the movement that conforms to a conventional pattern, and loop angle, which is fallen on, waits angle (10 °~12 °), and referred to as loop conforms to a conventional pattern.
Conventional PI is adjusted only using angle as target, there are problems that adjusting concussion, overshoot during the adjustment, when loop angle
Degree excessive velocities will lead to hydraulic cylinder response and not come, and in loop uphill process, oil cylinder uphill process strip occur and owe to open
There is wave type, roll brokenly in power, strip.During loop decline, oil cylinder oil extraction is slower, excessive there are strip tension and drawing down to ask
Topic.Moreover, only optimization set amount difference control, do not consider set amount adjust when loop cylinder action response whether matching problem, cause to live
The empty set of set, hightension drawing down when conforming to a conventional pattern.
In order to solve this problem, non-rolling sequence, set stage, stable rolling rank in the present embodiment, in the loop
Section batches a stage of building and falls the small set stage, according to the rolling thickness of the strip, advises according to preset servo valve gain compensation
Then after the gain compensation that servo valve proportionality coefficient of each stage to the hydraulic cylinder servo valve of the loop carries out corresponding size
The compensated servo valve proportionality coefficient is exported, is specifically included:
The thickness value h for obtaining the strip judges the size of the thickness value h of the strip；
When the thickness value h of the strip meets h < 2.5mm, compensated servo valve ratio system is exported according to the following formula
Number:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value；
When the thickness value h of the strip meets h >=2.5mm, the compensated servo valve ratio is exported according to the following formula
Coefficient:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value.
It is illustrated by taking F6 rolling-mill housing as an example.F6 rolling-mill housing loop coefficient k0=0.00009, after loop is built,
Because the damped coefficient for improving loop hydraulic control system is added in strip, the raising of hydraulic cylinder servo valve output gain can be increased
System responsiveness energy.As rolling thickness h < 2.5mm, set is played in milling train, coiling machine is built, tail portion falls when small set control starts and watches
Take valve proportionality coefficient initial value k0Gain is and for 6 seconds multiplied by 6；Terminate to revert to 1 times in rolling, its servo valve of remaining time
Proportionality coefficient initial value k0Gain is multiplied by 3.As rolling thickness h >=2.5mm, milling train plays set, and coiling machine is built, tail portion falls small set
Servo valve proportionality coefficient initial value k when control starts0Gain is and for 6 seconds multiplied by 3；Terminate to revert to 1 times in rolling, remaining
Time its servo valve proportionality coefficient initial value k0Gain is multiplied by 2.
The present embodiment takes large gain loop hydraulic cylinder control response method, and this method is simple and effective, and gain coefficient is long-range
In conventional servo valve pressure gain compensation calculation value (2~6 times), stablizes through production verifying loop strip tension, eliminate strip
The low problem of rolling brokenly of power.
It should be noted that unless other stage gain size values are in (2~6 times) range outside rolling sequence.Upper
State in embodiment, 3 times of gain size value, 2 times, 6 times only in a preferred embodiment for example, being not to gain size
Value restriction, those skilled in the art it is reasonable replacement also should belong to protection scope of the present invention.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
The embodiment of the invention also provides a kind of loop control device 3, each unit that loop control device 3 includes is for holding
Each step in the corresponding embodiment of row Fig. 1.Referring specifically to the associated description in the corresponding embodiment of Fig. 1.Fig. 3 shows this
The schematic diagram for the loop control device 3 that inventive embodiments three provide, comprising:
Information and date obtains module 31, for having applied set power to loop when detecting the next milling train occlusion strip
Square persistently obtains the corresponding loop feedback angle of the loop；
Calculating and judgment module 32, for calculating the actual angular speed and reality of the loop according to the loop feedback angle
Border angular acceleration, and based on preset contact judgment rule and the actual angular acceleration judge the loop whether with the band
Steel contact；
Set amount output control module 33 has cancelled set torque, has obtained when judging that the loop and the strip contact
Loop detects tension, and the set amount height output of the loop based on building becomes integral function and preset change integral parameter is true
Set pattern then, according to the loop feedback angle, the actual angular speed and the loop of acquisition detects tension dynamic regulation
The set amount height of the loop exports and control conforms to a conventional pattern.
Further, the calculating and judgment module 32 include computing module 321 and judgment module 322, the calculating mould
Block 321 is used to the loop feedback angle carrying out differential calculation to the time to obtain the actual angular speed, by using parameter
It is obtained for t seconds low-pass filters to after being filtered by the actual angular speed to the acceleration that the time differentiates
To the actual angular acceleration；
The judgment module 322, for obtaining the detection torque of the loop, the moment inspecting from moment inspecting device
Device is used to detect the loop and plays the torque generated during set；The work of strip gravitational moment, the loop based on the strip
It covers the sum of rotary inertia of gravitational moment and the loop and the strip and calculates comparison angular acceleration；Judge that the comparison angle adds
Whether the difference of speed and the actual angular acceleration is greater than the first preset threshold, when the comparison angular acceleration and the reality
When the difference of angular acceleration is greater than the first preset threshold, then judge that the loop is contacted with the strip.
The set amount output control module 33 includes building module 331, and the building module 331 is for constructing the loop
Set amount height output become integral function, comprising:
Obtain the real-time set amount L of the loopfbk, and according to the loop feedback angle θfbk, preset target angle θref
With preset target set amount Lref, construct the set amount height output change integral function of the loop are as follows:
Wherein ΔL=Lref-Lfbk, KpFor proportion adjustment gain,For integral adjustment gain, C
For variable integration parameter.
The set amount output control module 33 further includes becoming integral parameter determining module 332, and the change integral parameter determines
Module 332 is used for:
The relationship for judging the second preset threshold of the actual angular acceleration and setting, when the actual angular acceleration is less than
When the second preset threshold, the variable integration parameter C is determined are as follows:
C=1；
When the actual angular acceleration is greater than or equal to the second preset threshold, the loop feedback angle θ is judgedfbkWith
Preset target angle θrefRelationship, the size of the actual angular speed v and the loop detect tension PfbkWith it is preset
Strip refers to tension PrefRelationship, and determine the variable integration parameter C according to following conditions:
When the condition that meets 1: θfbk<θref- 2, v > 3 °/s, Pfbk≤0.9PrefWhen, determine the variable integration parameter C are as follows:
C=-d1v/ΔL,s.t.:-8<C<0,0.5≤d1≤3；
When the condition that meets 2: θfbk>θref+ 2, v < -3 °/s, Pfbk≥1.1PrefWhen, determine the variable integration parameter C are as follows:
C=-d2v/ΔL,s.t.:-1<C<0,0≤d2≤1；
When being both unsatisfactory for condition 1 or being unsatisfactory for condition 2, the variable integration parameter C is determined are as follows:
C=1.
The set amount output control module 33 further includes the control module 333 that conforms to a conventional pattern, and the control module 333 that conforms to a conventional pattern is for working as
When detecting the upper milling train of the tail portion of the strip close to the loop, to the set amount height output of the loop according to conforming to a conventional pattern
Offset rule controls the set amount height output of the loop, and the offset rule that conforms to a conventional pattern is the set amount height according to building
Output becomes the set amount height output that integral function output controls the loop, and variable integration parameter C=5.
The loop control device 3 further includes loop servo control module, and the loop servo control module is used in institute
The non-rolling sequence of loop is stated, set stage, stable rolling stage is played, batches a stage of building and fall the small set stage, according to the band
The rolling thickness of steel, according to preset servo valve gain compensation rule in each stage to the hydraulic cylinder servo valve of the loop
Servo valve proportionality coefficient exports the compensated servo valve proportionality coefficient after carrying out the gain compensation of corresponding size.
The loop servo control module includes thickness judgment module 341, the first output module 342 and the second output module
343, the thickness judgment module 341 is used to judge that the thickness value of the strip, first output module 342 to be used for described
When thickness value h < 2.5mm of strip, the compensated servo valve proportionality coefficient is exported according to the following formula:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value；Second output module 343 is used in thickness value h >=2.5mm of the strip, according to the following formula output compensation
The servo valve proportionality coefficient afterwards:
Wherein k is compensated servo valve proportionality coefficient, k0For servo valve ratio system
Number initial value.
Wherein, in above-mentioned loop control device 3 in the function realization and above-mentioned loop control method embodiment of modules
Each step is corresponding, and function and realization process no longer repeat one by one here.
Fig. 4 is loop control device/terminal device hardware structural diagram that the embodiment of the present invention four provides.Such as Fig. 4
Shown, which includes: processor 40, memory 41 and is stored in the memory
In 41 and the computer program 42 that can be run on the processor 40, such as tower-loop control program.The processor 40 executes
The step in above-mentioned each loop control method embodiment, such as step S1 shown in FIG. 1 are realized when the computer program 42
To S3.Alternatively, the processor 40 realizes each module/unit in above-mentioned each Installation practice when executing the computer program 42
Function, such as the function of module 31 to 33 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the loop control device/terminal device 4 is described.For example, the computer
Program 42 can be divided into information and date and obtain module, calculating and judgment module, set amount output control module (virtual bench
In module), each module concrete function is as follows:
Information and date obtains module, for having applied set torque to loop when detecting the next milling train occlusion strip,
Persistently obtain the corresponding loop feedback angle of the loop；
Calculating and judgment module, for calculating the actual angular speed and reality of the loop according to the loop feedback angle
Angular acceleration, and based on preset contact judgment rule and the actual angular acceleration judge the loop whether with the strip
Contact；
Set amount output control module has cancelled set torque, has obtained and live when judging that the loop and the strip contact
Set detection tension, and determined based on the set amount height of the loop of building output change integral function and preset change integral parameter
Rule detects tension dynamic regulation institute according to the loop feedback angle, the actual angular speed and the loop of acquisition
The output of set amount height and control for stating loop conform to a conventional pattern.
Loop control device/the terminal device 4 can be desktop PC, notebook, palm PC and cloud clothes
Business device etc. calculates equipment.Loop control device/the terminal device 4 may include, but be not limited only to, processor 40, memory 41.
It will be understood by those skilled in the art that Fig. 4 is only the example of terminal device 4, does not constitute and loop control device/terminal is set
Standby 4 restriction may include components more more or fewer than diagram, perhaps combine certain components or different components, such as
The terminal device 4 can also include input-output equipment, network access equipment, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the loop control device/terminal device 4, such as terminal is set
Standby 4 hard disk or memory.The memory 41 is also possible to the External memory equipment of the loop control device/terminal device 4,
Such as the plug-in type hard disk being equipped on the terminal device, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 41 can also both include
The internal storage unit of the loop control device/terminal device 4 also includes External memory equipment.The memory 41 is for depositing
Other programs and data needed for storing up the computer program and the terminal device.The memory 41 can be also used for temporarily
When store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a readable storage medium storing program for executing, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all wrap
Containing within protection scope of the present invention.
Claims (10)
1. a kind of loop control method, which comprises the following steps:
When detecting the next milling train occlusion strip, set torque is applied to loop, has persistently obtained the corresponding loop of the loop
Feedback angle calculates the actual angular speed and actual angular acceleration of the loop according to the loop feedback angle, and based on pre-
If contact judgment rule and the actual angular acceleration judge whether the loop contacts with the strip；
When judging that the loop and the strip contact, set torque has been cancelled, loop has been obtained and detects tension, and based on building
The loop the output of set amount height become integral function and preset changes integral parameter determine it is regular, according to the work of acquisition
Cover the set amount height output that feedback angle, the actual angular speed and the loop detect loop described in tension dynamic regulation；
Control conforms to a conventional pattern.
2. loop control method as described in claim 1, which is characterized in that described to calculate institute according to the loop feedback angle
The actual angular speed and actual angular acceleration for stating loop include:
The loop feedback angle is subjected to differential calculation to the time and obtains the actual angular speed, is t seconds by using parameter
Low-pass filter to obtaining institute after being filtered by the actual angular speed to the acceleration that the time differentiates
State actual angular acceleration.
3. loop control method as claimed in claim 2, which is characterized in that described to be based on preset contact judgment rule and institute
It states actual angular acceleration and judges whether the loop contacts with the strip, comprising:
The detection torque of the loop is obtained from moment inspecting device, the moment inspecting device was covered for detecting the loop and rising
The torque generated in journey；
The loop gravitational moment of strip gravitational moment, the loop based on the strip and the rotation of the loop and the strip
The sum of inertia calculates comparison angular acceleration；
Judge whether the difference of the comparison angular acceleration and the actual angular acceleration is greater than the first preset threshold, when described right
When being greater than the first preset threshold than the difference of angular acceleration and the actual angular acceleration, then the loop and the band are judged
Steel contact.
4. loop control method as described in claim 1, which is characterized in that the set amount height output of the loop becomes integral letter
Several buildings, comprising:
Obtain the real-time set amount L of the loopfbk, and according to the loop feedback angle θfbk, preset target angle θrefWith it is pre-
If target set amount Lref, construct the set amount height output change integral function of the loop are as follows:
Wherein ΔL=Lref-Lfbk, KpFor proportion adjustment gain,For integral adjustment gain, C is can
Become integral parameter.
5. loop control method as claimed in claim 4, which is characterized in that the change integral parameter determines that rule includes:
The relationship for judging the second preset threshold of the actual angular acceleration and setting, when the actual angular acceleration is less than second
When preset threshold, the variable integration parameter C is determined are as follows:
C=1；
When the actual angular acceleration is greater than or equal to the second preset threshold, the loop feedback angle θ is judgedfbkWith it is default
Target angle θrefRelationship, the size of the actual angular speed v and the loop detect tension PfbkWith preset strip
With reference to tension PrefRelationship, and determine the variable integration parameter C according to following conditions:
When the condition that meets 1: θfbk<θref- 2, v > 3 °/s, Pfbk≤0.9PrefWhen, determine the variable integration parameter C are as follows:
C=-d1v/ΔL,s.t.:-8<C<0,0.5≤d1≤3；
When the condition that meets 2: θfbk>θref+ 2, v < -3 °/s, Pfbk≥1.1PrefWhen, determine the variable integration parameter C are as follows:
C=-d2v/ΔL,s.t.:-1<C<0,0≤d2≤1；
When being both unsatisfactory for condition 1 or being unsatisfactory for condition 2, the variable integration parameter C is determined are as follows:
C=1.
6. loop control method as claimed in claim 4, which is characterized in that the control, which conforms to a conventional pattern, includes:
When detecting the upper milling train of the tail portion of the strip close to the loop, the set amount height output of the loop is pressed
The set amount height output of the loop is controlled according to offset rule is conformed to a conventional pattern, the offset rule that conforms to a conventional pattern is the set according to building
Amount height output becomes the set amount height output that integral function output controls the loop, and variable integration parameter C=5.
7. such as loop control method described in any one of claims 1 to 6, which is characterized in that in the non-rolling of the loop
Stage plays set stage, stable rolling stage, batches a stage of building and fall small set stage, the loop control method further include:
According to the rolling thickness of the strip, according to preset servo valve gain compensation rule in each stage to the loop
The servo valve proportionality coefficient of hydraulic cylinder servo valve exports the compensated servo valve ratio after carrying out the gain compensation of corresponding size
Example coefficient.
8. loop control method as claimed in claim 7, which is characterized in that according to the rolling thickness of the strip, according to pre-
If servo valve gain compensation rule the servo valve proportionality coefficient of the hydraulic cylinder servo valve of the loop is carried out in each stage
The compensated servo valve proportionality coefficient is exported after the gain compensation of corresponding size, comprising:
The thickness value h for obtaining the strip judges the size of the thickness value h of the strip；
When the thickness value h of the strip meets h < 2.5mm, the compensated servo valve proportionality coefficient is exported according to the following formula:
Wherein k is compensated servo valve proportionality coefficient, k0For at the beginning of servo valve proportionality coefficient
Initial value；
When the thickness value h of the strip meets h >=2.5mm, the compensated servo valve proportionality coefficient is exported according to the following formula:
Wherein k is compensated servo valve proportionality coefficient, k0For at the beginning of servo valve proportionality coefficient
Initial value.
9. a kind of loop control device/terminal device, including memory, processor and storage are in the memory and can be
The computer program run on the processor, which is characterized in that the processor is realized such as when executing the computer program
The step of any one of claim 1 to 8 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 8 of realization the method.
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| 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 |
| 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 |
| CN113664045A (en) * | 2021-07-19 | 2021-11-19 | 首钢京唐钢铁联合有限责任公司 | Rolling mill feeding control method, device, equipment and medium |
| CN113664045B (en) * | 2021-07-19 | 2023-09-15 | 首钢京唐钢铁联合有限责任公司 | Rolling mill feeding control method, device, equipment and medium |
| CN114472543A (en) * | 2022-01-20 | 2022-05-13 | 阳春新钢铁有限责任公司 | Loop control speed regulating system based on digital low-pass filter algorithm |
| CN114472543B (en) * | 2022-01-20 | 2023-06-20 | 阳春新钢铁有限责任公司 | Loop control speed regulation system based on digital low-pass filter algorithm |
| CN114918264A (en) * | 2022-07-22 | 2022-08-19 | 太原科技大学 | Strip steel tension-width control method with gain compensator |
| CN116974311A (en) * | 2023-09-21 | 2023-10-31 | 北京一控软件技术有限公司 | Control method of loop trolley of metal rolling post-treatment process line and loop equipment |
| CN116974311B (en) * | 2023-09-21 | 2023-12-26 | 北京一控软件技术有限公司 | Control method of loop trolley of metal rolling post-treatment process line and loop equipment |
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