CN110614276A - Method for controlling steel throwing position of loop of hot continuous rolling mill - Google Patents
Method for controlling steel throwing position of loop of hot continuous rolling mill Download PDFInfo
- Publication number
- CN110614276A CN110614276A CN201810627936.5A CN201810627936A CN110614276A CN 110614276 A CN110614276 A CN 110614276A CN 201810627936 A CN201810627936 A CN 201810627936A CN 110614276 A CN110614276 A CN 110614276A
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- loop
- strip steel
- rolling mill
- steel
- tail
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B41/00—Guiding, conveying, or accumulating easily-flexible work, e.g. wire, sheet metal bands, in loops or curves; Loop lifters
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- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Abstract
The invention discloses a loop steel throwing position control method of a hot continuous rolling mill, which adopts equidistant length control, namely the technologies of accumulated length control of strip steel operation and matrix time control when strip steel with different characteristics relates to loop dropping, so as to realize the loop control of the equidistant steel throwing of different strip steel in the steel throwing process, thereby effectively improving the steel throwing stability of the hot continuous rolling mill.
Description
Technical Field
The invention relates to a steel throwing technology, in particular to a method for controlling a steel throwing position of a loop of a hot continuous rolling mill.
Background
For the control of the hot rolling strip steel process, in the steel throwing control process of the strip steel, because the temperature and the speed of the strip steel have certain changes, and meanwhile, because the running speed of the strip steel has certain changes in the steel throwing process of the strip steel, the control of the strip steel in a continuous rolling mill rack has certain difficulty, so that the strip steel has larger instability in the steel throwing process, in the production process combined with 1880 hot rolling, because the falling position control of a movable sleeve in the steel throwing process is unstable when the strip steel with different types and specifications is rolled, the control of the strip steel tail plate shape in the steel throwing process is difficult, after the analysis on the reasons for the control, the phenomenon of instant tension loss exists between the racks in the steel throwing process of the strip steel (when the strip steel tail leaves a front rack), and the phenomenon is expected to occur more temporarily in the control process, the better the effect of improving the rolling stability, and in the prior art, the steel throwing signal of the stand and the angle compensation control in the sleeve dropping process are usually adopted as the sleeve dropping control points of the loop, please refer to fig. 1, in fig. 1, 1 is an upstream stand, 2 is a downstream stand, 3 is a strip steel, 4 is a loop roller, 5 is a rotating shaft, 6 is a hydraulic cylinder, a is a front elevation angle, b is a rear elevation angle, and c is a loop angle. The angle compensation control effect is poor due to the fact that physical parameters such as the running speed of the strip steel, the thickness of the strip steel, the temperature of the strip steel and the like of different strip steels in the rolling process are different greatly.
Disclosure of Invention
The invention aims to provide a method for controlling the steel throwing position of a hot continuous rolling mill loop, which adopts equidistant length control, namely, the technology of accumulated length control of strip steel operation and matrix time control, so as to realize the loop control of the equidistant steel throwing of different strip steels in the steel throwing process.
A method for controlling a steel throwing position of a loop of a hot continuous rolling mill comprises the following steps:
A. detecting the current working angle of the loop;
B. carrying out loop angle difference stroke control;
C. controlling the running speed of the tail strip steel;
D. determining equidistant loop starting points;
E. performing accumulated control on the running length of the tail part of the strip steel;
F. and controlling the starting points of the loops at equal intervals.
The step B specifically comprises the following steps:
B1. for determining the drop of the loopTarget value thetaref；
B2. Determining loop dropping speed vlp；
B3. And calculating the sleeve falling time t according to the angle difference.
In step B1, the target value θrefThe calculation formula of (2) is as follows:
θref＝θL2+θTHK+θSTL
in the formula (I), the compound is shown in the specification,
θL2looping angles during steel throwing set by the process machine;
θTHKsetting a loop angle correction value according to the thickness of the strip steel;
θSTLthe corrected value of the angle of the loop is set according to the steel grade of the strip steel.
In step B2, loop drop velocity vlpThe calculation formula of (2) is as follows:
vlp＝vlpz×(1+Gopen)×(1+Gclose)
in the formula (I), the compound is shown in the specification,
vlpz: the loop operating speed when no strip steel exists;
Gopenf (W, H, ρ): gain when the loop is lifted;
Gclosef (W, H, ρ): gain when the loop is pressed down.
W: the width of the strip steel;
h: the thickness of the strip steel;
ρ: the density of the strip steel.
In step B3, the cover-falling time t is calculated by the formula:
t＝(θact-θref)÷vlp
in the formula:
t is the time required by the loop to fall;
θactthe angle of the loop before falling off the loop;
θreftarget value of loop falling;
vlpthe speed of dropping the loop.
In the step C, the running speed of the tail strip steel is controlled by adopting the following calculation formula:
vact＝vFi×(1-α)
in the formula:
vactspeed of strip steel at the inlet side of the rolling mill;
vFithe actual rotation speed of the rolling mill;
alpha is the back slip coefficient of the rolling mill.
In step D, the calculation formula for determining the starting point of the equidistant loop is as follows:
Ltar＝vact×t
Ltarthe running distance of the strip steel is required during the dropping of the loop;
vactspeed of strip steel at the inlet side of the rolling mill;
t is the time required by the loop action.
In step E, the calculation formula adopted by the accumulated control of the running length of the tail of the strip steel is as follows:
Ltail＝∑(vact×Tscan)
Ltailthe traveling distance of the tail of the strip steel;
vactspeed of strip steel at the inlet side of the rolling mill;
Tscancalculating the unit time length of the acquisition speed when the tail of the strip steel travels the distance.
In step F, the calculation formula adopted by the equidistant loop starting point control is as follows:
when L istail＜LtarStarting the sleeve falling control,
in the formula
LtailThe traveling distance of the tail of the strip steel;
Ltarthe running distance of the strip steel during the dropping of the loop.
By adopting the technical scheme of the invention, the equidistant control mode is adopted for the loop dropping action point under the condition of different running speeds of the frame by combining the physical properties of different strip steels, namely, the control of the traditional frame steel throwing signal is changed, the angle difference between the working position of the loop and the target value of the loop dropping in the steel throwing process is combined with the variables of the running speed of the frame, the physical properties of the strip steels and the like, the equidistant control is adopted, the equidistant control of the tail position of the strip steels relative to the position of the frame in the steel throwing process of the different strip steels is met, and the steel throwing stability of the hot continuous rolling mill is improved.
Drawings
In the present invention, like reference numerals refer to like features throughout, wherein:
FIG. 1 is a structural schematic diagram of loop steel throwing of a hot continuous rolling mill of the invention;
FIG. 2 is a flow chart of the control method for the loop steel throwing position of the hot continuous rolling mill.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
As shown in FIG. 2, the method for controlling the position of casting steel of the loop of the hot continuous rolling mill mainly comprises the following steps:
A. detecting the current working angle of the loop: detecting the current loop angle by combining loop angle detection;
B. loop angle difference stroke control, including:
b1 target value theta of loop fallingrefDetermination of (1):
θref＝θL2+θTHK+θSTL
in the formula (I), the compound is shown in the specification,
θL2: loop angle (unit degree) set by process machine during steel throwing
θTHK: loop angle correction value (unit degree) set according to strip steel thickness
θSTL: loop angle correction value (unit degree) set according to steel type of strip steel
In the technical scheme, the correction value of the angle of the loop can be compensated by adopting a table format mode;
b2 loop dropping speed vlpIs determined
Because the strip steel is pressed on the piston sleeve in the rolling process, the strip steel is rolled on the piston sleeveThe weight of the strip steel has certain influence on the response of the loop, and the motion speed of the loop needs to be compensated in order to realize accurate calculation of the loop falling time at the tail part. In the technical scheme, a two-dimensional matrix control mode is adopted for the loop dropping speed v of the related looplpDetermining;
vlp＝vlpz×(1+Gopen)×(1+Gclose)
in the formula:
vlpz: the loop operating speed when no strip steel exists;
Gopenf (W, H, ρ): gain when the loop is lifted;
Gclosef (W, H, ρ): gain when the loop is pressed down.
W: the width of the strip steel;
h: the thickness of the strip steel;
ρ: the density of the strip steel.
Because the characteristics of the rolled strip steel are different, in order to compensate the influence of the characteristics of the strip steel on the looping action, the technical scheme combines the width, the thickness and the density of the strip steel to carry out bidirectional compensation control on the looping action;
b3, calculating the sleeve falling time according to the angle difference
t＝(θact-θref)÷vlp
In the formula:
t is the time (unit S) required for loop to fall
θactThe angle (unit degree) of the loop before falling
θrefTarget value (unit degree) of loop falling
vlpSpeed of loop falling (unit degree/S)
The technical scheme combines the current working angle of the loop with the idle target angle difference of the loop as control, combines the current action speed of the loop, and adopts a matrix time control technology to determine the action time of the loop; the running time of the loop under different related working positions is controlled by combining the loop dropping stroke difference of the hot continuous rolling mill and adopting a matrix time control technology so as to meet the requirement of equidistant loop control related to the invention;
C. tail strip steel running speed control
vact＝vFi×(1-α)
vact: speed of strip on inlet side of rolling mill (unit M/S)
vFi: actual speed of the mill (Unit M/S)
α: coefficient of rolling mill run-back
Calculating the current running speed of the strip steel by combining the running speed of the current rack fed back by the system and the backward slip coefficient of the rack (considering the deformation control of different racks);
D. equidistant loop starting point determination
Ltar＝vact×t
Ltar: distance the strip should travel (unit M) during looping
vact: speed of strip on inlet side of rolling mill (unit M/S)
t: time required for looping action (unit S)
By combining the loop control of throwing steel at equal intervals related to the technical scheme, the running length of the strip steel corresponding to the motion of the loop is obtained by controlling the motion (loop falling) time of the loop;
E. accumulated control of running length of tail part of strip steel
Ltail＝∑(vact×Tscan)
Ltail: distance traveled by the strip Tail (Unit M)
vact: speed of strip on inlet side of rolling mill (unit M/S)
Tscan: calculating the unit time length (unit S) of the acquisition speed when the strip steel tail travels
The technical scheme combines the speed feedback of the strip steel at the inlet side and the unit time length of the system during the running of the accumulated tail to perform accumulated control on the running length of the tail of the strip steel;
F. equidistant loop starting point control
The accumulated judgment control is carried out on the related equidistant loop starting points, and once the running length of the strip steel reaches the equidistant loop starting points, the loop falling control is started;
namely Ltail＜LtarThe sleeve falling control is started, and the sleeve falling control is started,
in the formula
Ltail: the distance traveled by the tail of the strip steel;
Ltar: the running distance of the strip steel during the loop falling.
The starting point of the equivalent distance loop is determined, the accumulated control mode of the running length of the tail part of the strip steel is adopted, and the accumulated judgment control is adopted, so that the equidistant control of the tail part position of the strip steel relative to the position of the rack in the steel throwing process is realized.
Example (b):
when a certain hot rolling mill produces cold-rolled special products, the specification is 2.5 x 1250mm, the loop angle set by a process machine during steel throwing is 5 degrees, the loop angle correction value set by the thickness of strip steel is 0.03 degrees, the loop angle correction value set by the steel type of the strip steel is 0.07 degrees, the parameters of the motion speed of the loop during no-load are 49.1 degrees/S (obtained by experiments), the gain when the loop is lifted is 0.008 (empirical value) and the gain when the loop is pressed down is 0 (empirical value), the loop falling time is calculated according to the parameters, and then, the actual rotating speed v/S of the rolling mill is 9.7M/S according to the speed of an F7 rack according to different racks (the embodiment, namely the actual rotating speed v/Fi) The backward slip coefficient of the speed rolling mill (the F7 is 0.04 in the embodiment) and the speed of the strip steel at the inlet side of the rolling mill are calculated, and then the corresponding running length of the strip steel is controlled by combining the time of loop action (loop dropping), namely the speed v of the strip steel at the inlet side of the rolling millactAnd the time t required by the loop action is used for obtaining equidistant loop starting points, and finally the control method of the technical requirement is realized through the accumulated control of the running length of the tail part of the strip steel;
the control procedure related to this embodiment is as follows:
calculating target value of loop drop
θref＝θL2+θTHK+θSTL5+0.03+0.07 ═ 5.1 degrees
Calculating loop falling speed of loop
vlp＝vlpz×(1+Gopen)×(1+Gclose) 49.1 (1+0.008) x (1+0) 49.5 degree/s
Calculating the loop falling time of the loop
t＝(θact-θref)÷vlp＝(14-5.1)÷49.5＝0.2s
Calculating the running speed of the strip steel at the tail part
vact＝vFi×(1-α)＝9.7×(1-0.04)＝9.312m/s
Calculating equidistant loop starting points
Ltar＝vact×t＝9.312×0.2＝1.8624m
Calculating the running length of the tail part of the strip steel
Ltail＝∑(vact×Tscan)＝∑(9.312×0.05)
Trigger equidistant loop starting point
If L istailAnd when the pressure is less than or equal to 1.8624, the loop is triggered to fall.
In conclusion, the loop control method for throwing steel equidistantly for a hot continuous rolling mill of the invention improves the position control mode in the steel throwing process of strip steel in the prior art, namely the prior art adopts a rack steel throwing signal as the condition of loop control, adopts the equidistant control mode of the tail part of the strip steel relative to the rack position, adopts the matrix time control technology for the operation time control of the related loop, greatly improves the control precision of the invention because of the difference of the corresponding strip steel characteristics of the motion of the related loop, adopts the equidistant control for the starting point of the loop motion, adopts the accumulative judgment control for the combination system of the running length of the strip steel, improves the stability of the technical scheme, combines the loop motion angle, adopts the current loop position angle detection, the control correction of the target loop angle and the dynamic loop motion speed control, on the premise of determining the angle difference of the dynamic loop so as to obtain the action time of the loop, the control of the running speed of the related strip steel and the equidistant loop starting points is realized through accumulated judgment control, so that the equidistant control of the tail position of the strip steel relative to the position of the rack in the steel throwing process is realized, the equidistant control of the tail position of the strip steel relative to the position of the rack in the steel throwing process of different strip steels is met, and the steel throwing stability of the hot continuous rolling mill is improved.
Those of ordinary skill in the art will realize that the foregoing description is illustrative of one or more embodiments of the present invention and is not intended to limit the invention thereto. Any equivalent changes, modifications and equivalents of the above-described embodiments are within the scope of the invention as defined by the appended claims, and all such equivalents are intended to fall within the true spirit and scope of the invention.
Claims (9)
1. A method for controlling a steel throwing position of a loop of a hot continuous rolling mill is characterized by comprising the following steps:
A. detecting the current working angle of the loop;
B. carrying out loop angle difference stroke control;
C. controlling the running speed of the tail strip steel;
D. determining equidistant loop starting points;
E. performing accumulated control on the running length of the tail part of the strip steel;
F. and controlling the starting points of the loops at equal intervals.
2. The method for controlling the position of the loop throwing of the hot continuous rolling mill as claimed in claim 1, wherein the step B specifically comprises the following steps:
B1. determining a target value theta of loop dropref；
B2. Determining loop dropping speed vlp；
B3. And calculating the sleeve falling time t according to the angle difference.
3. The method for controlling the position of throwing steel into a looper of a hot continuous rolling mill according to claim 2, wherein in step B1, the target value θrefThe calculation formula of (2) is as follows:
θref＝θL2+θTHK+θSTL
in the formula (I), the compound is shown in the specification,
θL2setting the steel throwing in the process machineThe angle of the time loop;
θTHKsetting a loop angle correction value according to the thickness of the strip steel;
θSTLthe corrected value of the angle of the loop is set according to the steel grade of the strip steel.
4. The method for controlling the loop throwing position of the hot continuous rolling mill according to claim 2, wherein in step B2, the loop dropping speed v is controlled by the loop dropping speed vlpThe calculation formula of (2) is as follows:
vlp＝vlpz×(1+Gopen)×(1+Gclose)
in the formula (I), the compound is shown in the specification,
vlpz: the loop operating speed when no strip steel exists;
Gopenf (W, H, ρ): gain when the loop is lifted;
Gclosef (W, H, ρ): gain when the loop is pressed down.
W: the width of the strip steel;
h: the thickness of the strip steel;
ρ: the density of the strip steel.
5. The method for controlling the position of throwing steel of the looper of the hot continuous rolling mill as claimed in claim 2, characterized in that: in step B3, the cover-falling time t is calculated by the formula:
t＝(θact-θref)÷vlp
in the formula:
t is the time required by the loop to fall;
θactthe angle of the loop before falling off the loop;
θreftarget value of loop falling;
vlpthe speed of dropping the loop.
6. The method for controlling the position of the loop throwing of the hot continuous rolling mill as claimed in claim 1, wherein in the step C, the running speed of the tail strip steel is controlled by using the following calculation formula:
vact＝vFi×(1-α)
in the formula:
vactspeed of strip steel at the inlet side of the rolling mill;
vFithe actual rotation speed of the rolling mill;
alpha is the back slip coefficient of the rolling mill.
7. The method for controlling the loop throwing position of the hot continuous rolling mill according to claim 1, wherein in step D, the calculation formula for determining the starting point of the equidistant loop is as follows:
Ltar＝vact×t
Ltarthe running distance of the strip steel is required during the dropping of the loop;
vactspeed of strip steel at the inlet side of the rolling mill;
t is the time required by the loop action.
8. The method for controlling the position of throwing steel into a loop of a hot continuous rolling mill according to claim 1, wherein in the step E, the calculation formula adopted by the accumulated control of the running length of the tail of the strip steel is as follows:
Ltail＝∑(vact×Tscan)
Ltailthe traveling distance of the tail of the strip steel;
vactspeed of strip steel at the inlet side of the rolling mill;
Tscancalculating the unit time length of the acquisition speed when the tail of the strip steel travels the distance.
9. The method for controlling the position of the loop throwing of the hot continuous rolling mill as claimed in claim 1, wherein in the step F, the control of the equidistant loop starting points adopts a calculation formula as follows:
when L istail＜LtarStarting the sleeve falling control,
in the formula
LtailThe traveling distance of the tail of the strip steel;
Ltarthe running distance of the strip steel during the dropping of the loop.
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| CN201810627936.5A CN110614276A (en) | 2018-06-19 | 2018-06-19 | Method for controlling steel throwing position of loop of hot continuous rolling mill |
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| CN201810627936.5A CN110614276A (en) | 2018-06-19 | 2018-06-19 | Method for controlling steel throwing position of loop of hot continuous rolling mill |
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Cited By (2)
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|---|---|---|---|---|
| CN113522989A (en) * | 2020-04-21 | 2021-10-22 | 宝山钢铁股份有限公司 | Dynamic sleeve falling control method for loop of hot continuous rolling mill |
| CN114798725A (en) * | 2022-05-30 | 2022-07-29 | 重庆钢铁股份有限公司 | Bar and rolling method and rolling system thereof |
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| CN113522989A (en) * | 2020-04-21 | 2021-10-22 | 宝山钢铁股份有限公司 | Dynamic sleeve falling control method for loop of hot continuous rolling mill |
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| CN114798725B (en) * | 2022-05-30 | 2024-05-14 | 重庆钢铁股份有限公司 | Bar and rolling method and rolling system thereof |
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Application publication date: 20191227 |