CN114160587B - Method for controlling strip steel tension to be stable in acceleration and deceleration process - Google Patents
Method for controlling strip steel tension to be stable in acceleration and deceleration process Download PDFInfo
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- CN114160587B CN114160587B CN202111467036.7A CN202111467036A CN114160587B CN 114160587 B CN114160587 B CN 114160587B CN 202111467036 A CN202111467036 A CN 202111467036A CN 114160587 B CN114160587 B CN 114160587B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 83
- 239000010959 steel Substances 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000001133 acceleration Effects 0.000 title claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 230000003247 decreasing effect Effects 0.000 claims abstract description 4
- 230000003321 amplification Effects 0.000 claims description 10
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 10
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 3
- 238000005097 cold rolling Methods 0.000 abstract description 8
- 238000000137 annealing Methods 0.000 abstract description 3
- 238000005098 hot rolling Methods 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 238000001514 detection method Methods 0.000 description 1
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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
- B21B37/48—Tension control; Compression control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Control Of Metal Rolling (AREA)
- Heat Treatment Of Strip Materials And Filament Materials (AREA)
Abstract
The invention discloses a method for controlling strip steel tension to be stable in an acceleration and deceleration process, and belongs to the technical field of strip steel tension control of a treatment line in the metallurgical industry. The invention converts the pressure signal into a strip steel tension signal through a pressure sensor arranged on a tensioning roller or a compression roller, and controls the speed difference of an up-converter of a processing line through a tension controller to control the strip steel tension; and controls the magnification factor K of the tension controller p1 According to the speed self-adaptive following of the production line, and simultaneously, according to the actual sectional area of the strip steel, K is automatically increased/decreased p1 Coefficient, obtain K of tension controller along with speed and band steel actual sectional area self-adaptive change P Values. The invention improves the stability and control precision of the strip steel in the acceleration/deceleration process, can be applied to cold rolling continuous annealing lines, and can be popularized and applied to engineering projects such as galvanization lines, hot and cold rolling leveling lines and the like.
Description
Technical Field
The invention relates to the technical field of strip steel tension control of a treatment line in the metallurgical industry, in particular to a method for controlling strip steel tension to be stable in an acceleration and deceleration process.
Background
In the production operation of the processing line, the strip steel is required to maintain a certain stable tension when running from one place to another place of the unit, so that the strip steel can smoothly pass through the production line. For example: the strip steel has enough stable tension and cannot deviate when passing through the production line. The specific tension value varies according to the treatment process involved in the process section.
In general, tension control is divided into two types: tension control, i.e. the tension of a load is indirectly controlled by controlling the output torque of a motor, by adjusting the tension by a torque variable, wherein a larger output torque means a larger strip tension; the other is tension control, which adjusts the tension by means of a speed variation, i.e. by imposing an additional speed to one of the two adjacent transmission points (sets) through which the strip passes, so as to produce a given deviation of the speed. Due to the different speed settings, the speed regulator of the corresponding driving point (group) is regulated according to the speed value set by each speed setting, and the strip steel between the two points tends to be pulled mutually, so that the strip steel tension between the two points is generated.
In tension control processes, in which tension is regulated by a speed variable, a tension regulator is the core of the control. The main detection point of the tension control of the existing processing line strip steel adopts actual tension control. The set value of the tension and the feedback value of the tension meter are processed by the tension controller to obtain a compensation value to control the rotating speed difference of the motor, so as to achieve the purpose of controlling the tension of the strip steel. And the PI parameter of the tension controller is set as a constant, the PI parameter is adjusted at a medium speed by the strip steel with the middle specification selected in the debugging process of the production line, and the PI parameter is used after the tension control is optimal. Because PI parameters are fixed, tension fluctuation is large when the production line changes specification and accelerates and decelerates, and the quality of strip steel products can be influenced.
Through searching, the application with the patent number ZL201410584265.0 discloses a tension roller control method for ensuring the tension stability of strip steel on a treatment line; the steps of this application are as follows: 1) The PLC receives yield strength and thickness parameters of the strip steel running on the processing line; 2) Setting a tension roller moment control parameter Qn of the PLC according to the parameters; 3) When the strip steel on the processing line runs at a constant speed, the tension roller moment controller is controlled by setting the adjusting coefficient A to be a minimum value; when the strip steel is in acceleration and deceleration, adjusting the adjustment coefficient A of the torque controllers of all tension rollers; and when the acceleration of the strip steel in acceleration and deceleration exceeds the acceleration change dead zone range, setting the adjustment coefficient A of all tension roller moment controllers to be the maximum value. This application can guarantee that tension roller tension is stable, avoids tension oscillation to the influence of product quality.
The application with the patent number ZL 2017113184721 discloses a method for setting the speed of strip steel in a cold rolling treatment line and controlling the positioning of the strip steel; the control structure of the application is a cascade closed-loop control structure, and comprises the following control structures from inside to outside: acceleration control ring, speed control ring, location control ring. The acceleration control ring and the speed control ring form a control structure of a strip steel speed setting method; the set value of the band steel speed setting method has a smoothing function, tension abrupt change caused by response of different equipment when the band steel is accelerated and decelerated can be avoided, and cooperative and stable operation of transmission equipment is realized.
However, the control accuracy of the application is not high under different strip steel specifications and different speeds, and the control stability in the acceleration/deceleration process is still to be enhanced.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention fully considers the conditions of equipment and production process of a treatment line, combines rich automation expertise and field experience, and provides a method for controlling the stability of the tension of the strip steel in the acceleration and deceleration process so as to reduce the problem of larger tension fluctuation of the strip steel in the acceleration and deceleration process in the prior art.
2. Technical proposal
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention relates to a method for controlling the stability of strip steel tension in the acceleration and deceleration process, which converts a pressure signal into a strip steel tension signal through a pressure sensor arranged on a tension roller or a compression roller, and controls the speed difference of an upper frequency converter of a processing line through a tension controller to control the strip steel tension; controlling the magnification factor K of the tension controller p1 According to the speed self-adaptive following of the production line, and simultaneously, according to the actual sectional area of the strip steel, K is automatically increased/decreased p1 Coefficient, obtain K of tension controller along with speed and band steel actual sectional area self-adaptive change P Values.
Further, the magnification factor of the tension controller is determined as follows:
K p1 ＝((y 1up -y 1li )/(n max -n min ))×(n act -n min )+y 1li
wherein K is p1 : speed adaptive magnification;
n act : actual value of speed;
n max : a maximum speed limiting value;
n min : minimum speed limit value;
y 1up : an output value at a maximum speed limit;
y 1li : output value at speed minimum limit.
Further, the actual value of the speed n act The value is at the maximum limiting value n of the speed max And a speed minimum limit value n min Between the actual values of the speed n act Maximum limiting value n > speed max At the time, the actual value of the speed n act Calculated according to the maximum value of the speed limit, when the actual value of the speed n act ＜n min At the time, the actual value of the speed n act And (5) carrying out amplitude limiting calculation according to the minimum speed value.
Further, the sectional area of the strip steel is self-adaptive to the magnification factor K r1 The determination formula is as follows:
K r1 ＝((y 2up -y 2li )/(S max -S min ))×(S act -S min )+y 2li
wherein S is act : actual value of cross-sectional area;
S max : maximum limiting value of sectional area;
S min : minimum sectional area limiting value;
y 2up : an output value at the maximum cross-sectional area limit;
y 2li : an output value at the cross-sectional area minimum limit value;
the K is P The value is the magnification factor K of the tension controller p1 Self-adaptive magnification factor K with section area of strip steel r1 Is a product of (a) and (b).
Further, the strip steel with middle specification thickness and width is selected when the tension controller is debugged for the first time, and the amplification value of the tension controller which is regulated to be in the optimal state is given to y when the speed is low 1li Handle tension control at high speedThe amplification value adjusted to the optimal state by the modulator is given to y 1up The method comprises the steps of carrying out a first treatment on the surface of the And recording the value K of the medium speed magnification p80 The method comprises the steps of carrying out a first treatment on the surface of the Then the thickness and width of the strip steel are reduced to be close to the minimum thickness and width, and the tension controller is adjusted to be the amplification factor and K of the optimal state at the medium speed p80 The divided value is assigned to y 2up Then changing the thickness and width of the strip again to approach the maximum thickness and width, and adjusting the tension controller to the optimal magnification and K at medium speed p80 The divided value is assigned to y 2li Deriving y 1up 、y 1li 、y 2up 、y 2li Data.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
the invention relates to a method for controlling the stability of strip steel tension in the acceleration and deceleration process, which is characterized in that the magnification factor K of a tension controller is set p1 According to the speed self-adaptive following of the production line, and simultaneously, according to the actual sectional area of the strip steel, K is automatically increased/decreased p1 The coefficient improves the stability and the control precision of the strip steel in the acceleration/deceleration process, can be applied to cold rolling continuous annealing lines, and can be popularized and applied to engineering projects such as galvanization lines, hot and cold rolling leveling lines and the like. After a period of production operation verification, the tension controller is stable and reliable in output in the acceleration/deceleration process, the control precision exceeds the index of the process design, the production control requirement is completely met, and the control level and the problem solving capability of the cold rolling treatment line are improved.
Drawings
FIG. 1 is a schematic diagram of the tension control of the strip steel in the present invention.
The Tn_up and Tn_lo controller I component clipping in FIG. 1 is necessary. The strip steel may slip during actual production, which may cause the actual tension to be less than the set tension value. The absence of clipping of the component I can cause the controller to reach the maximum value, so that the controller loses the regulation capability, meanwhile, the speed difference between the slipped equipment and the equipment on the line is increased, when the equipment is recovered to be normal, the impact of the large speed difference on the strip steel is larger, and the possibility of strip breakage is increased. The limiting speed difference is controlled in a normal range, so that production is not affected and the risk of breakage is avoided.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
Example 1
Referring to fig. 1, a method for controlling the stability of the strip steel tension in the acceleration and deceleration process according to the present embodiment is developed based on a general PLC and a pressure sensor, and converts a pressure signal into a strip steel tension signal by a pressure sensor installed on a tension roller or a compression roller, and controls the strip steel tension by controlling the speed difference of an up-converter by a tension controller, thereby obtaining the expected effect in the cold rolling process line engineering project.
In the embodiment, the processing line PLC is controlled by a CPU of S7-400, and a tension feedback signal is connected into a PLC system through a PROFIBUS interface.
The field debugging firstly converts the pressure sensor into a tension signal and calibrates the tension signal. And then controlling the strip steel to run at a low speed, adjusting PI parameters of the tension controller to enable the tension to be stable, recording PI data, gradually increasing the strip steel speed, adjusting the PI parameters again to enable the tension control to be optimal, and finally confirming the I value. The P value determines y using low speed (30 m/min) and high speed (120 m/min) according to the effect of debugging 1li And y 1up Is a numerical value of (2). Confirming y based on the effect of tension control even after changing the specification 2li Y 2up Numerical values.
The tension controller is debugged on site to stabilize the tension of the strip steel. The stability and the precision of tension control of the strip steel in the acceleration/deceleration process under different speeds and specifications are successfully solved.
It should be noted that, in this embodiment, the magnification of the tension controller follows adaptively according to the speed of the production line. The larger the amplification value of the tension controller is, the higher the response is, and the corresponding control precision is also improved. But the strip steel is unstable when the low-speed time value is too large in the production process of the processing line, and the high-speed time value is small in response and low in precision. In order to ensure stability and improve control accuracy, the embodiment adopts a magnification following line speed self-adaption function. The tension stability is ensured and the control precision is improved.
K p1 ＝((y 1up -y 1li )/(n max -n min ))×(n act -n min )+y 1li
K p1 : speed adaptive magnification
n act : actual value of speed
n max : maximum limiting value of speed
n min : minimum speed limiting value
y 1up : output value at maximum speed limit
y 1li : output value at speed minimum limit
n act The actual value of the speed is n max ～n min Interval n act ＞n max When n is act According to maximum amplitude limiting calculation, when n act ＜n min When n is act And calculating according to the minimum amplitude limit. The strip speed of the production line design was 160 meters per minute. n is n min Taking 30 m/min, n max Taking 120 m/min. Ensuring the stability of the control system.
The larger the sectional area of the strip steel is, the heavier the strip steel with the same length is, the loss of the strip steel acting on the tensioning roller is increased, the poorer the stability of the strip steel during acceleration/deceleration is, and the magnification of the strip steel with smaller sectional area is reduced under the same speed. In order to ensure the stability and control accuracy of the tension controller, both the speed factor and the sectional area factor of the strip steel are considered.
S act ＝W act ×TH act
S act : actual cross-sectional area of strip steel
W act : width of strip steel
TH act : thickness of strip steel
K r1 ＝((y 2up -y 2li )/(S max -S min ))×(S act -S min )+y 2li
K r1 : self-adaptive magnification of sectional area of strip steel
S act : actual value of cross-sectional area
S max : maximum limiting value of sectional area
S min : minimum limiting value of sectional area
y 2up : output value at maximum cross-sectional area limit
y 2li : output value at cross-sectional area minimum limit
The production thickness and width of the production line belt steel have large specification change, the thickness is 0.3 mm-2.5 mm, and the width is 710 mm-1600 mm. The thickness and width of the strip steel should be selected to be close to the middle specification when the tension controller is debugged for the first time, and the amplification value of the optimal state of the tension controller is adjusted to be given to y at low speed 1li The optimal magnification value at high speed is given to y 1up . And record the value K of the medium speed magnification p80 . Then the thickness and width of the strip steel are reduced to be close to the minimum thickness and width, and the adjusted amplification factor and K are carried out at the medium speed p80 The divided value is assigned to y 2up . Then changing the thickness and width of the strip again to approach the maximum thickness and width, and adjusting the amplification factor and K at medium speed p80 The divided value is assigned to y 2li . Obtaining y according to the debugging result 1up 、y 1li 、y 2up 、y 2li Data.
The KP value is the self-adaptive variable quantity along with the speed and the sectional area of the strip steel. Meanwhile, the control precision and stability under different strip steel specifications and speeds are satisfied. Especially, the control effect is obvious in the acceleration/deceleration process, and the control precision can be improved by more than one time.
The method for controlling the stability of the strip steel tension in the acceleration and deceleration process improves the stability and control precision of the strip steel in the acceleration/deceleration process, can be applied to cold rolling continuous annealing lines, and can also be popularized and applied to engineering projects such as galvanization lines, cold-hot rolling leveling lines and the like. After a period of production operation, the tension controller outputs stable and reliable in the acceleration/deceleration process, and completely meets the production control requirement.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (1)
1. A method for controlling the stability of the tension of strip steel in the acceleration and deceleration process, which converts the pressure signal into a strip steel tension signal by a pressure sensor arranged on a tension roller or a compression roller, and controls the speed difference of an up-converter of a processing line by a tension controller to control the tension of the strip steel; the method is characterized in that: controlling the magnification of a tension controllerSelf-adaptive following according to the speed of the production line, and automatic increasing/decreasing of +/according to the actual sectional area of the strip steel>Coefficient, obtain K of tension controller along with speed and band steel actual sectional area self-adaptive change P A value;
the magnification of the tension controller is determined as follows:
in the method, in the process of the invention,: speed adaptive magnification;
: actual value of speed;
: a maximum speed limiting value;
: minimum speed limit value;
: an output value at a maximum speed limit;
: an output value at a speed minimum limit;
actual value of speedThe value is the maximum limiting value of the speed +.>And a speed minimum limit value +.>Between the actual values of the speed>Maximum speed limiting value +.>At the time, the actual value of the speed +.>Calculated according to the maximum value of the speed limit, when the actual value of the speed</>At the time, the actual value of the speed +.>Limiting and calculating according to the minimum speed value;
self-adaptive magnification of sectional area of strip steelThe determination formula is as follows:
in the method, in the process of the invention,: actual value of cross-sectional area;
: maximum limiting value of sectional area;
: minimum sectional area limiting value;
: an output value at the maximum cross-sectional area limit;
: an output value at the cross-sectional area minimum limit value;
the K is P The value is the magnification of the tension controllerSelf-adaptive magnification of cross section area of strip steel>Is a product of (2);
selecting strip steel with middle specification thickness and width when debugging the tension controller for the first time, and controlling the tension controller at low speedThe amplification value adjusted to the optimal state is givenThe magnification value which adjusts the tension controller to the optimal state is given to the tension controller at high speedThe method comprises the steps of carrying out a first treatment on the surface of the And recording the value of medium speed magnification +.>The method comprises the steps of carrying out a first treatment on the surface of the Then the thickness and width of the strip steel are reduced to be close to the minimum thickness and width, and the tension controller is adjusted to be the amplification factor and +.>The divided value is assigned +.>Then changing the thickness and width of the strip steel again to approach the maximum thickness and width, and adjusting the tension controller to the amplification factor and +.>The divided value is assigned +.>To get->、/>、/>、/>Data.
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| JPH04187315A (en) * | 1990-11-19 | 1992-07-06 | Kawasaki Steel Corp | Method for controlling strip thickness and tension between stands of continuous rolling mill |
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| CN105312358A (en) * | 2014-06-30 | 2016-02-10 | 宝钢不锈钢有限公司 | Tension control method for cold-rolled strip steel in acid continuous rolling working procedure |
| CN109189112A (en) * | 2018-09-25 | 2019-01-11 | 辽宁工业大学 | A kind of idler roller strip tension sliding-mode control and control device |
| CN112222202A (en) * | 2019-06-30 | 2021-01-15 | 宝山钢铁股份有限公司 | Control method for tension switching of strip steel welding line over-leveling equipment |
| CN112404140A (en) * | 2020-11-24 | 2021-02-26 | 辽宁工业大学 | Automatic control device and control method for strip steel tension of welding wire forming machine |
-
2021
- 2021-12-02 CN CN202111467036.7A patent/CN114160587B/en active Active
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| JPH04187315A (en) * | 1990-11-19 | 1992-07-06 | Kawasaki Steel Corp | Method for controlling strip thickness and tension between stands of continuous rolling mill |
| KR20000060440A (en) * | 1999-03-16 | 2000-10-16 | 차동해 | A tension control method for continuous strip processing line |
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| CN109189112A (en) * | 2018-09-25 | 2019-01-11 | 辽宁工业大学 | A kind of idler roller strip tension sliding-mode control and control device |
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