CN116637942B - Rolling parameter coupling-based roll inclination closed-loop control method - Google Patents
Rolling parameter coupling-based roll inclination closed-loop control method Download PDFInfo
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Abstract
The invention belongs to the technical field of metallurgical rolling, and discloses a roll inclination closed-loop control method based on rolling parameter coupling, which comprises the following steps: acquiring the physical positions of all embedded sensors in the range of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel; establishing a plate-shaped target curve basic equation to obtain a standardized plate-shaped target curve equation; calculating the coupling plate shape actual measurement value and the plate shape deviation value at each measuring sectionDev i The method comprises the steps of carrying out a first treatment on the surface of the Calculating a quadratic form influence coefficient; calculating the quadratic form influence coefficient of the inclination of the working roll according to the quadratic form influence coefficientThe method comprises the steps of carrying out a first treatment on the surface of the Quadratic influence coefficient according to inclination of working rollAnd normalizing the physical position of the embedded sensor, calculating the plate shape deviation calculation equivalent of each measuring section of the inclination of the working rollThe method comprises the steps of carrying out a first treatment on the surface of the According toAndDev i calculating the inclination closed-loop adjustment quantity of the working rollThe method comprises the steps of carrying out a first treatment on the surface of the According toAnd calculating the final output value of the closed loop adjustment quantity of the inclination of the working roll by combining a proportional-integral controller of the inclination of the working roll.
Description
Technical Field
The invention belongs to the technical field of metallurgical rolling, and relates to a roll inclination closed-loop control method based on rolling parameter coupling.
Background
The automatic control system of the cold-rolled strip steel generally comprises a basic level control part and a process level control part. The basic level control part calculates the preset value of the rolling process parameter according to the calculation model in the basic level control server, and transmits the preset value to the process level control part to guide the rolling production. The process level control part processes and receives the preset value transmitted by the basic level control part, and also needs to ensure continuous running of rolling production, monitor the production condition in real time and acquire production feedback data. The plate shape closed loop feedback control is to calculate the deviation of the actual plate shape and the target plate shape by taking the actually measured plate shape signal of the plate shape roller as feedback information under the stable rolling working condition, analyze and calculate the adjustment quantity of the plate shape adjusting means required by eliminating the plate shape deviation through a feedback calculation model, and then continuously send out adjustment instructions to various plate shape adjusting mechanisms of the rolling mill, so that the rolling mill can continuously, dynamically and real-time adjust the plate shape of the strip steel in rolling, and finally the plate shape of the strip steel product is stable and good.
The roller comprises a supporting roller, an intermediate roller and a working roller, wherein the working roller is a roller directly contacted with strip steel, the intermediate roller is used for increasing the adjusting capability of the working roller to the shape of the strip steel, and the supporting roller is a foundation and is used for supporting the intermediate roller and the working roller. The regulating mechanism for controlling the shape of the cold-rolled strip steel comprises three forms of a middle roller bending roller, a working roller bending roller and a roller inclination, wherein the roller inclination specifically means that the working roller inclination of a rolling mill regulates the shape of the strip steel. The calculated amount of the plate shape deviation of the working roll tilting closed-loop control part is a core link of the working roll tilting closed-loop control, and the calculated value can directly influence the regulation and control efficiency of the working roll tilting on the strip steel plate shape. At present, the calculation mode of the plate shape deviation calculation amount of the existing work roll tilting closed-loop control part cannot accurately reflect the plate shape defect state, the defect plate shape adjusting effect is not obvious, the influence of factors such as rolling force, intermediate roll transverse movement and the like on the calculation result is not considered in the traditional calculation mode, and the problem to be solved in the current production is urgent.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a roll inclination closed-loop control method based on rolling parameter coupling.
The invention provides a roll inclination closed-loop control method based on rolling parameter coupling, which comprises the following steps:
step 1: acquiring the physical positions of all embedded sensors in the range of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel;
step 2: establishing a plate-shaped target curve basic equation, and carrying out standardized processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation;
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section;
step 4: calculating the plate shape deviation value at each measuring section by using the coupling plate shape actual measurement value and the plate shape reference valueDev i ；
Step 5: calculating a quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set value of the rolling force of the tail stand and the transverse movement quantity of the working roller of the tail stand and />；
Step 6: according to and />Calculating quadratic form influence coefficient of the inclination of the working roll according to the inclination adjustment coefficient of the working roll>；
Step 7: calculating plate shape deviation calculation equivalent at each measuring section of the work roll inclination according to the quadratic form influence coefficient of the work roll inclination and the physical position of the embedded sensor of the standardized processing；
Step 8: according to step 7And in step 4Dev i Calculating the closed loop adjustment of the inclination of the work rolls>；
Step 9: according to step 8And calculating the final output value of the closed-loop adjustment quantity of the inclination of the working roll by combining a proportional-integral controller of the inclination of the working roll.
Further, the step 1 specifically includes:
taking the transmission side as the starting side and the operation side as the ending side, and the target width of the strip steelBThe corresponding first plate-shaped roller embedded sensor is marked asbThe mark of the last plate-shaped roller embedded sensor is set aseThe method comprises the steps of carrying out a first treatment on the surface of the Acquisition in a plate-shaped closed-loop feedback control systemb, e]Physical location of all plate-shaped roller embedded sensors inP i (i∈[b, e]) The method comprises the steps of carrying out a first treatment on the surface of the When taking outi=mIn the time-course of which the first and second contact surfaces,P m is the median of the physical locations, calculated according to the following formulam：
；
Where int is the downward rounding function,wthe width of the embedded sensor;P i the values are distributed symmetrically with respect to a plane of symmetry perpendicular to the axis of the plate-shaped roller, which plane of symmetry isP m A plane in which the light source is located;
the step 2 specifically comprises the following steps:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
；
wherein ,G S and (3) withG AS As the gain factor of the gain factor,a 0 ~a 8 the target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
；
in the above-mentioned method, the step of,x i is the physical position after standardized treatment;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
；
in the above-mentioned method, the step of,is thata 0 The normalized coefficient; />Respectively isa 2 ，a 4 ，a 6 ，a 8 The coefficient after the normalization processing is carried out,j∈[2,4,6,8]；/>respectively isa 1 ，a 3 ，a 5 ，a 7 The coefficient after the normalization processing is carried out,w∈[1,3,5,7]the method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating a constant term normalization coefficient according to the following>：
；
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
。
further, the step 3 specifically includes:
introducing deformation weight coefficientsw del Coupling the measured values of the plate shape at each measuring section, the firstbAnd (d)eThe measurement section is processed in the same way, the firstb+1 toe-1 the measurement segments are processed in the same way, the expressions are respectively:
；
in the above-mentioned method, the step of,is the firstiMeasuring the actual measurement value of the coupling plate shape at the section;Mea i is the firstiMeasuring a plate shape actual measurement value at the section;Avg(Mea i+1 +Mea i-1 ) Representation calculationMea i+1 And (3) withMea i-1 Average value of (2).
Further, in the step 4, the plate shape deviation value at each measurement section is calculated according to the following formula:
；
wherein ,Dev i is the firstiThe value of the plate shape deviation at the measuring section,is the firstmThe actual measurement of the coupling plate shape at the measuring section,Ref i is the firstiThe reference value of the plate shape at the measuring section,Ref m is the firstmMeasuring a plate shape reference value at the segment;Ref i andRef m obtained from a plate-shaped closed loop feedback control system.
Further, the step 5 specifically includes:
step 5.1: will be based on the target width of the strip steelBTarget thickness of strip steelhDistance of traverse between work rolls of end frameL E The coupled quadratic influence coefficient is defined asThe calculation formula is as follows:
；
in the above-mentioned method, the step of,a B 、b B 、c B the method comprises the steps of respectively calculating coefficients of a secondary term, a primary term and a constant term based on the coupling of the width of a finished product, the target thickness of strip steel and the traversing distance of a working roll of a final stand;
step 5.2: will be based on final stand rolling forceP E And the target width of the strip steelBThe coupled quadratic influence coefficient is defined asThe calculation formula is as follows:
；
in the above-mentioned method, the step of,a P 、b P 、c P respectively based on the rolling force of the final standP E And the target width of the strip steelBCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients; transverse movement of work rolls of end frameL E Rolling force with end standP E Obtained from a plate-shaped closed loop feedback control system; all calculation coefficients in steps 5.1-5.2 are obtained by the production commissioning process.
Further, in the step 6, a quadratic form influence coefficient of the inclination of the working roll is calculated according to the following formula：
；
In the above-mentioned method, the step of,the inclination adjustment coefficient of the working roll is obtained by inquiring in a plate-shaped closed-loop feedback control system.
Further, the step 7 calculates the equivalent weight based on the plate shape deviation at each measurement section of the inclination of the work roll：
；
wherein ,the influence coefficient related to the inclination of the working roll in the self-learning mode of the plate-shaped closed-loop feedback control system is obtained by inquiring a self-learning control part of the plate-shaped closed-loop feedback control system; />The coefficients are calculated for the plate shape deviations at the various measuring sections of the work roll inclination, obtained by means of a production commissioning process.
Further, the working roll inclination closed-loop adjustment in the step 8The calculation equation of (2) is as follows:
；
in the above-mentioned method, the step of,for trimming coefficient +.>And the trimming coefficient and the compensation coefficient are both obtained by a production debugging process.
Further, in the step 9, a final output value of the work roll tilting closed-loop adjustment amount is calculated according to the following formulaOut L (k)：
；
；
In the above-mentioned method, the step of,as a control variable for the work roll tilt proportional-integral controller,g L a compensation coefficient for the tilt of the work roll;K LP scaling factor for tilting the proportional-integral controller for the work roll;K LI for the integral coefficient of the work roll tilt proportional-integral controller,sis a differential operator;kas a discrete differential operator,t s for a data scanning period of a plate-shaped closed-loop control system,I L (k) Is->Is a discrete form of (a);nis the total number of acquired data;g L 、K LP andK LI is obtained by inquiring in a plate-shaped closed-loop feedback control system.
The roll inclination closed-loop control method based on rolling parameter coupling has the following beneficial effects:
1. the control method of the invention provides a standardized processing method of the high-order item plate shape target curve, improves the control precision of the cold-rolled strip steel plate shape, and provides a model basis for obtaining high-quality strip steel.
2. According to the control method, the influence of cold-rolled strip steel production data on the closed-loop control precision of the tilting of the working rolls is considered, the influence coefficients based on different production parameters are established, and the calculation precision of the closed-loop control quantity of the tilting of the working rolls is improved.
3. The control method of the invention can improve the quality of the cold-rolled strip steel product, improve the consistency of the quality of the product and increase the production profit of enterprises.
Drawings
FIG. 1 is a flow chart of a roll tilt closed loop control method based on roll parameter coupling of the present invention;
fig. 2 is a final output value of the work roll tilt closed loop adjustment of the present invention.
Detailed Description
As shown in fig. 1, the roll inclination closed-loop control method based on rolling parameter coupling of the invention comprises the following steps:
step 1: the method comprises the steps of obtaining the physical positions of all embedded sensors in the ranges of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel, wherein the physical positions are specifically as follows:
taking the transmission side as the starting side and the operation side as the ending side, and the target width of the strip steelBThe corresponding first plate-shaped roller embedded sensor is marked asbThe mark of the last plate-shaped roller embedded sensor is set aseThe method comprises the steps of carrying out a first treatment on the surface of the Acquisition in a plate-shaped closed-loop feedback control systemb, e]Physical location of all plate-shaped roller embedded sensors inP i (i∈[b, e]) The method comprises the steps of carrying out a first treatment on the surface of the When taking outi=mIn the time-course of which the first and second contact surfaces,P m for the median value of the physical position of the embedded sensor of the plate-shaped roller, the calculation is carried out according to the following formulam：
；
Where int is the downward rounding function,wthe width of the embedded sensor;P i the values are distributed symmetrically with respect to a plane of symmetry perpendicular to the axis of the plate-shaped roller, which plane of symmetry isP m In the plane of the body.
In this embodiment, the target width of the stripB1270mm. Inquiring in a plate-shaped closed-loop feedback control system to obtainb=3、e=37，m=20. Then at [3,37 ]]Physical location of embedded sensors of all plate-shaped rollersP i As shown in table 1.
Table 1 physical location (unit) of embedded sensor of plate-shaped rollermm）
And as can be seen from the table 1,P i the values are symmetrically distributed in a plane perpendicular to the axis of the plate-shaped roller, and the symmetrical plane isP 20 In the plane of the body.
Step 2: establishing a plate-shaped target curve basic equation, and carrying out standardization processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation, wherein the standardized plate-shaped target curve equation is specifically as follows:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
；
wherein ,G S and (3) withG AS As the gain factor of the gain factor,a 0 ~a 8 the target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
；
in the above-mentioned method, the step of,x i is the physical position after standardized treatment;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
；
in the above-mentioned method, the step of,is thata 0 The normalized coefficient; />Respectively isa 2 ，a 4 ，a 6 ，a 8 The coefficient after the normalization processing is carried out,j∈[2,4,6,8]；/>respectively isa 1 ，a 3 ，a 5 ，a 7 The coefficient after the normalization processing is carried out,w∈[1,3,5,7]the method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating a constant term normalization coefficient according to the following>：
；
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
。
obtained after standardized processing of physical position of embedded sensorx i The values of (2) are shown in Table 2.
Table 2 physical position (unit of) of sensor embedded in standardized plate-shaped rollermm）
Is found by a plate-shaped closed-loop feedback control system,Gs=-18，a 2 =0.25，a 4 =0.4，a 6 =0.1，a 8 =0.5, and the other set coefficients are all zero. Can be calculated to obtain，/>，/>，/>，/>，. The normalized strip shape target curve equation corresponding to the strip width 1270mm in this embodiment is:
；
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section, wherein the step 3 specifically comprises the following steps:
as known from the law of metal plastic deformation, when plastic deformation occurs at a certain place of the strip steel, different ranges are also generated at the adjacent partsPlastic deformation of degree. Therefore, a deformation weight coefficient is introducedw del The value is obtained by inquiring a plate-shaped closed-loop feedback control system. Coupling the measured values of the plate shape at each measuring section, the firstbAnd (d)eThe measurement section is processed in the same way, the firstb+1 toe-1 the measurement segments are processed in the same way, the expressions are respectively:
；
in the above-mentioned method, the step of,is the firstiMeasuring the coupling plate shape actual measurement value at the section, and the Unit is I-Unit;Mea i is the firstiAnd measuring the actual measurement value of the plate shape at the section, wherein the Unit is I-Unit, and the actual measurement value is obtained by inquiring a plate shape closed loop feedback control system.Avg(Mea i+1 +Mea i-1 ) Representation calculationMea i+1 And (3) withMea i-1 Average value of (2).
In the present embodiment of the present invention, in the present embodiment,w del =0.7 is obtained by a query of a plate-shaped closed-loop feedback control system. Based on the strip steel with the target width of 1270mm, the expression of the coupling plate shape actual measurement value at each measuring section is converted into:
；
step 4: calculating a plate shape deviation value at each measurement section using the coupling plate shape measured value and the plate shape reference value according to:
；
wherein ,Dev i is the firstiThe value of the plate shape deviation at the measuring section,is the firstmThe actual measurement of the coupling plate shape at the measuring section,Ref i is the firstiThe reference value of the plate shape at the measuring section,Ref m is the firstmMeasuring a plate shape reference value at the segment;Ref i andRef m obtained from a plate-shaped closed loop feedback control system.
In the present embodiment, the control is obtained from a plate-shaped closed-loop feedback control systemRef i The values are shown in Table 3.
TABLE 3 plate shape reference values for each measurement section (Unit I-Unit)
Step 5: calculating a quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set value of the rolling force of the last stand and the transverse movement quantity of the working roller of the last stand, wherein the quadratic form influence coefficient specifically comprises the following steps:
step 5.1: will be based on the target width of the strip steelBTarget thickness of strip steelhDistance of traverse between work rolls of end frameL E The coupled quadratic influence coefficient is defined asThe calculation formula is as follows:
；
in the above-mentioned method, the step of,a B 、b B 、c B the method comprises the steps of respectively calculating coefficients of a secondary term, a primary term and a constant term based on the coupling of the width of a finished product, the target thickness of strip steel and the traversing distance of a working roll of a final stand;
step 5.2: will be based on final stand rolling forceP E And the target width of the strip steelBThe coupled quadratic influence coefficient is defined asThe calculation formula is as follows:
；
in the above-mentioned method, the step of,a P 、b P 、c P respectively based on the rolling force of the final standP E And the target width of the strip steelBCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients; transverse movement of work rolls of end frameL E Rolling force with end standP E Obtained from a plate-shaped closed loop feedback control system; all calculation coefficients in steps 5.1-5.2 are obtained by the production commissioning process.
In this example, the production process data is obtained:h=0.495mm，L E =20mm，P E =8909 KN. Based on the characteristic data in the panel-shaped closed loop feedback control system and the field debugging results, the results shown in table 4 will be obtained.
TABLE 4 calculation coefficients of quadratic form influence coefficients
According to the respective coefficient values in table 4, and />The calculation results of (a) are respectively as follows: 1.13 and 0.96.
Step 6: according to the quadratic influence coefficient and />Calculating quadratic form influence coefficient of the inclination of the working roll according to the inclination adjustment coefficient of the working roll>；
；
In the above-mentioned method, the step of,the inclination adjustment coefficient of the working roll is obtained by inquiring in a plate-shaped closed-loop feedback control system.
In this embodiment, the feedback control system is obtained from a plate-shaped closed-loop feedback control systemIs 187.1. According to step 5-> and />Is calculated as->Is 202.97.
Step 7: calculating plate shape deviation calculation equivalent at each measuring section of the work roll inclination according to the quadratic form influence coefficient of the work roll inclination and the physical position of the embedded sensor of the standardized processing；
The plate-shaped closed loop feedback system has a plurality of setting modes according to different production stages and production process requirements. In this embodiment, production under the condition that the plate-shaped closed-loop feedback control system is in the on-self-learning mode will be considered. Calculating the plate shape deviation calculation equivalent at each measuring section of the work roll tilt according to:
；
wherein ,closed loop feedback control for plate shapeThe influence coefficient of the inclination of the working roller in the self-learning mode of the system is inquired by a self-learning control part of the plate-shaped closed-loop feedback control system; />The coefficients are calculated for the plate shape deviations at the various measuring sections of the work roll inclination, obtained by means of a production commissioning process.
In the present embodiment of the present invention, in the present embodiment,the values of (2) are shown in Table 5, and are found by the self-learning control section of the plate-shaped closed-loop feedback control system1.5, then->The calculation results of (2) are shown in Table 6.
Table 5 calculating coefficients based on the shape deviation at each measurement section of the work roll inclination
Table 6 calculation of equivalent weight for plate shape deviation at each measurement section of work roll inclination
Step 8: according to step 7And in step 4Dev i Calculating the closed loop adjustment of the inclination of the work rolls>；
；
In the above-mentioned method, the step of,for trimming coefficient +.>And the trimming coefficient and the compensation coefficient are both obtained by a production debugging process.
Step 9: according to step 8Calculating the final output value of the closed loop adjustment of the work roll inclination by combining the proportional-integral controller of the work roll inclinationOut L (k)：
；
；
In the above-mentioned method, the step of,as a control variable for the work roll tilt proportional-integral controller,g L a compensation coefficient for the tilt of the work roll;K LP scaling factor for tilting the proportional-integral controller for the work roll;K LI for the integral coefficient of the work roll tilt proportional-integral controller,sis a differential operator;kas a discrete differential operator,t s for a data scanning period of a plate-shaped closed-loop control system,I L (k) Is->Is a discrete form of (a);nis the total number of acquired data;g L 、K LP andK LI is obtained by inquiring in a plate-shaped closed-loop feedback control system.
In the present embodiment of the present invention, in the present embodiment,K LP the number of the water-soluble polymer particles is 0.064,K LI the number of the groups was 2.08,g L 1.Out L (k) The calculation result of (2) is shown in fig. 2.
The foregoing description of the preferred embodiments of the invention is not intended to limit the scope of the invention, but rather to enable any modification, equivalent replacement, improvement or the like to be made without departing from the spirit and principles of the invention.
Claims (1)
1. The roll inclination closed-loop control method based on the rolling parameter coupling is characterized by comprising the following steps of:
step 1: acquiring the physical positions of all embedded sensors in the range of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel;
step 2: establishing a plate-shaped target curve basic equation, and carrying out standardized processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation;
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section;
step 4: calculating a plate shape deviation value Dev at each measuring section by using the coupling plate shape actual measurement value and the plate shape reference value i ；
Step 5: calculating a quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set value of the rolling force of the tail stand and the transverse movement quantity of the working roller of the tail stand and />
Step 6: according to and />Calculating quadratic form influence coefficient of the inclination of the working roll by combining the inclination adjustment coefficient of the working roll>
Step 7: calculating plate shape deviation calculation equivalent at each measuring section of the work roll inclination according to the quadratic form influence coefficient of the work roll inclination and the physical position of the embedded sensor of the standardized processing
Step 8: according to step 7And Dev in step 4 i Calculating the closed loop adjustment of the inclination of the work rolls>
Step 9: according to step 8Calculating a final output value of the closed loop adjustment quantity of the inclination of the working roll by combining a proportional-integral controller of the inclination of the working roll;
the step 1 specifically comprises the following steps:
taking a transmission side as a starting side and an operation side as a termination side, setting the mark of a first plate-shaped roller embedded sensor corresponding to the target width B of the strip steel as B and setting the mark of a last plate-shaped roller embedded sensor as e; acquisition [ b, e ] in a plate-shaped closed-loop feedback control system]Physical position P of all plate-shaped roller embedded sensors in i (i∈[b,e]) The method comprises the steps of carrying out a first treatment on the surface of the When i=m is taken, P m For the median of the physical locations, m is calculated according to the following formula:
wherein int is a downward rounding function, and w is the width of the embedded sensor; p (P) i The values are distributed symmetrically with respect to a plane of symmetry perpendicular to the axis of the plate-shaped roller, which plane of symmetry is P m A plane in which the light source is located;
the step 2 specifically comprises the following steps:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
y＝G S ×(a 0 +a 2 P i 2 +a 4 P i 4 +a 6 P i 6 +a 8 P i 8 )+G AS ×(a 1 P i +a 3 P i 3 +a 5 P i 5 +a 7 P i 7 )；
wherein ,GS And G AS Is a gain coefficient, a 0 ～a 8 The target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
in the above, x i Is the physical position after standardized treatment;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
in the above-mentioned method, the step of,is a as 0 The normalized coefficient; />A is respectively a 2 ，a 4 ，a 6 ，a 8 Normalized coefficient j E [2,4,6,8 ]]；/>A is respectively a 1 ，a 3 ，a 5 ，a 7 Normalized coefficient, w.epsilon.1, 3,5,7]The method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating a constant term normalization coefficient according to the following>
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
the step 3 specifically comprises the following steps:
introducing a deformation weight coefficient w del Coupling processing is carried out on the plate shape measured values at each measuring section, the processing modes of the b measuring section and the e measuring section are the same, the processing modes of the b+1 measuring section to the e-1 measuring section are the same, and the expressions are respectively as follows:
in the above-mentioned method, the step of,the measured value of the coupling plate shape at the ith measuring section; mea i The measured value of the plate shape at the ith measuring section; avg (Mea) i+1 +Mea i-1 ) Representation calculation Mea i+1 And Mea i-1 Average value of (2);
in the step 4, the plate shape deviation value at each measuring section is calculated according to the following formula:
wherein ,Devi For the plate shape deviation value at the i-th measurement section,for coupling plate shape measured value at mth measuring section, ref i For the plate shape reference value at the ith measurement segment, ref m A plate shape reference value at an mth measurement section; ref (Ref) i and Refm The method comprises the steps of obtaining from a plate-shaped closed-loop feedback control system;
the step 5 specifically comprises the following steps:
step 5.1: will be based on the target width B, the target thickness h and the traverse distance L of the work rolls of the last frame E The coupled quadratic influence coefficient is defined asThe calculation formula is as follows:
in the above, a B 、b B 、c B The method comprises the steps of respectively calculating coefficients of a secondary term, a primary term and a constant term based on the coupling of the width of a finished product, the target thickness of strip steel and the traversing distance of a working roll of a final stand;
step 5.2: will be based on final stand rolling force P E Coupled with the target width B of the strip steelThe secondary influence coefficient is defined asThe calculation formula is as follows:
in the above, a P 、b P 、c P Respectively based on the rolling force P of the final stand E A quadratic term calculation coefficient, a first term calculation coefficient and a constant term calculation coefficient which are coupled with the target width B of the strip steel; transverse movement L of work roll of last frame E With last stand rolling force P E Obtained from a plate-shaped closed loop feedback control system; all calculation coefficients in the steps 5.1-5.2 are obtained by a production debugging process;
in the step 6, the quadratic form influence coefficient of the inclination of the working roll is calculated according to the following formula
In the above, adj L The inclination adjustment coefficient of the working roll is obtained by inquiring in a plate-shaped closed-loop feedback control system;
step 7 of calculating the equivalent weight based on the plate shape deviation at each measuring section of the work roll tilt
wherein ,the influence coefficient related to the inclination of the working roll in the self-learning mode of the plate-shaped closed-loop feedback control system is obtained by inquiring a self-learning control part of the plate-shaped closed-loop feedback control system; />Calculating coefficients for the plate shape deviations at each measuring section of the inclination of the working rolls, and obtaining the coefficients through a production debugging process;
the working roll inclination closed-loop adjustment in the step 8The calculation equation of (2) is as follows:
in the above-mentioned method, the step of,to tailor the coefficient beta L1 The trimming coefficient and the compensation coefficient are both obtained in the production debugging process;
in the step 9, the final output value Out of the closed loop adjustment quantity of the inclination of the working roll is calculated according to the following formula L (k)：
In the above-mentioned method, the step of,g is a control variable of a work roll inclination proportional-integral controller L For workersA compensation coefficient of the inclination of the roller is made; k (K) LP Scaling factor for tilting the proportional-integral controller for the work roll; k (K) LI An integral coefficient of a proportional-integral controller for tilting the working roll, and s is a differential operator; k is a discrete differential operator, t s Data scanning period for a plate-shaped closed-loop control system, I L (k) Is thatIs a discrete form of (a); n is the total number of collected data; g L 、K LP and KLI Is obtained by inquiring in a plate-shaped closed-loop feedback control system.
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