CN113909307B - Loop control method and device - Google Patents
Loop control method and device Download PDFInfo
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- CN113909307B CN113909307B CN202111001014.1A CN202111001014A CN113909307B CN 113909307 B CN113909307 B CN 113909307B CN 202111001014 A CN202111001014 A CN 202111001014A CN 113909307 B CN113909307 B CN 113909307B
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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
- B21B37/50—Tension control; Compression control by looper 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a loop control method and a loop control device, which are applied to a loop control system of a continuous casting and rolling production line, wherein the method comprises the following steps: acquiring an angle speed correction value and a width speed correction value of the loop; obtaining the speed correction of the frame at the downstream of the loop based on the angle speed correction value and the width speed correction value of the loop; controlling the rolling speed of the downstream frame of the loop on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop; if the adjusted actual angle meets the preset angle condition, triggering a cascade maintaining mode, detecting whether the actual width in the cascade maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-narrowing control step until the actual width of the strip steel meets the preset width condition. The method can effectively solve the problem that the strip steel is continuously narrowed between rough rolling and finish rolling in the continuous casting and continuous rolling production line.
Description
Technical Field
The invention relates to the technical field of steel control, in particular to a loop control method and a loop control device.
Background
The cost reduction and synergy promote the steel enterprises to innovate the steel processing flow, and the continuous casting and rolling production line creates considerable economic benefits with lower construction cost and production cost, thereby being favored by various large steel enterprises. In the hot continuous rolling process of the strip steel, the loop is used for connecting a front rolling mill and a rear rolling mill and matching the metal second flow between the rolling mills, and plays an important role in rolling stability and product qualification rate. In the rolling process, the loop control system realizes loop height and strip steel tension control by adjusting the main transmission speed of the front frame or the rear frame and adjusting the pressure at two sides of the loop lifting hydraulic cylinder, thereby achieving the rolling stabilizing effect.
The rolling mill of the continuous casting and rolling production line is divided into two areas of rough rolling and finish rolling, the rough rolling mill and the finish rolling mill are four-high rolling mill, a general rough rolling mill group is provided with three rolling mills, the finish rolling mill group is provided with five rolling mills, seven loop devices are arranged among the eight rolling mills, and a loop No. 3 is positioned between the last rolling mill of the rough rolling and the first rolling mill of the finish rolling and is used for connecting the rough rolling mill group and the finish rolling mill group. Because the rough rolling and finish rolling distances are longer and the temperature of the strip steel in the area is high, the strip steel is very easy to narrow, and therefore, the control quality of the No. 3 loop directly influences the qualification rate of the strip steel width. When the traditional loop control strategy is adopted, the loop No. 3 frequently causes continuous narrowing, even deviation and rolling breaking of the strip steel, and scrap steel is caused, and obviously, the traditional strategy has extremely unsatisfactory control effect for the loop at the special position.
Disclosure of Invention
According to the loop control method and device, based on the actual angle and the actual width of the loop, the rolling speed of the frame at the downstream of the loop is adjusted, so that the loop is accurately controlled, and the problem that strip steel is continuously narrowed between rough rolling and finish rolling of a continuous casting and continuous rolling production line is effectively solved.
In a first aspect, the present invention provides, according to an embodiment of the present invention, the following technical solutions:
a loop control method applied to a loop control system of a continuous casting and rolling production line, the method comprising: if the actual width of the strip steel is detected not to meet the preset width condition, executing the following anti-narrowing control steps: acquiring an angle speed correction value and a width speed correction value of the loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of the strip steel; obtaining a speed correction amount of a frame downstream of the loop based on the angular speed correction value of the loop and the width speed correction value; controlling the rolling speed of the loop downstream frame on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop; if the adjusted actual angle meets the preset angle condition, triggering a cascade maintaining mode, detecting whether the actual width in the cascade maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-stretching control step until the actual width of the strip steel meets the preset width condition; wherein the cascade hold mode is a working mode for keeping the speed correction amount of the frame at the downstream of the loop unchanged.
Preferably, the method further comprises: and if the adjusted actual angle does not meet the preset angle condition, repeating the anti-narrowing control step until the actual angle of the loop meets the preset angle condition.
Preferably, after adjusting the actual angle of the loop, the method further comprises: detecting whether the difference value between the adjusted actual angle and the set angle of the loop is within a preset angle deviation range, and judging whether the adjusted actual angle meets the preset angle condition.
Preferably, the acquiring the corrected value of the angular velocity of the loop includes: calculating a difference value between the actual angle of the loop and the set angle to obtain an angle deviation; and obtaining the angular velocity correction value based on the angular deviation and a preset angular proportional integral algorithm.
Preferably, the obtaining the angular velocity correction value based on the angular deviation and a preset angular proportional integral algorithm includes: bringing the angular deviation, the angular adjustment proportional control gain, the angular adjustment integral control gain, and the angular adjustment total control gain into a formula (θ) REF -θ ACT ) xKG× (KP+ ΣKI), the angle speed correction value was obtained.
Preferably, the acquiring the width speed correction value of the loop includes: calculating a difference value between the actual width of the strip steel detected by the finish rolling outlet instrument and the set width to obtain a width deviation; and obtaining the width speed correction value based on the width deviation and a preset width proportional integral algorithm.
Preferably, the method comprises the steps of,based on the width deviation and a preset width proportional integral algorithm, obtaining the width speed correction value comprises the following steps: substituting the width deviation, the angle-adjusting proportional control gain, the angle-adjusting integral control gain, and the angle-adjusting total control gain into a formula (W REF -W ACT )×KG w ×(KP w +∑KI w ) And obtaining the width speed correction value.
Preferably, the method further comprises: controlling the loop to adopt a loop lifting torque, wherein the loop lifting torque is determined based on the rolled steel grade and the strip steel specification; and detecting whether the actual width of the strip steel meets the preset width condition or not when detecting that the loop is completely opened.
Preferably, the jacketing torque is determined based on the steps of: determining strip steel tension torque, strip steel gravity torque, loop gravity torque, strip steel bending torque and compensation torque based on the rolled steel grade and strip steel specification; bringing the set angle of the loop, the strip steel tension torque, the strip steel gravity torque, the loop gravity torque, the strip steel bending torque and the compensation torque into a formula T ref ＝f 3 (θ)+f 4 (θ)+f 5 (θ)+f 6 (θ)+T comp And obtaining the sleeve lifting torque.
In a second aspect, the present invention provides, according to an embodiment of the present invention, the following technical solutions:
a loop control device for use in a loop control system of a continuous casting and rolling line, the device comprising:
the anti-stretching control module is used for executing the following anti-stretching control steps if the actual width of the strip steel is detected to not meet the preset width condition:
acquiring an angle speed correction value and a width speed correction value of the loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of the strip steel;
obtaining a speed correction amount of a frame downstream of the loop based on the angular speed correction value of the loop and the width speed correction value;
controlling the rolling speed of the loop downstream frame on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop;
and the control module is used for triggering a cascade connection maintaining mode if the adjusted actual angle meets the preset angle condition, detecting whether the actual width in the cascade connection maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-narrowing control step until the actual width of the strip steel meets the preset width condition, wherein the cascade connection maintaining mode is a working mode for maintaining the speed correction quantity of the frame at the downstream of the loop unchanged.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
the loop control method and the loop control device provided by the embodiment of the invention are applied to a loop control system for controlling a continuous casting and rolling production line, and the speed correction quantity of a loop downstream rack is obtained by acquiring the angle speed correction value and the width speed correction value of the loop; based on the speed correction, the rolling speed of the loop downstream frame to the strip steel is controlled to adjust the actual width of the strip steel and the actual angle of the loop. If the adjusted actual angle meets the preset angle condition, triggering a cascade maintaining mode, detecting whether the actual width in the cascade maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-narrowing control step until the actual width of the strip steel meets the preset width condition. According to the method, the actual width and the actual width of the loop are controlled, the rolling speed of the downstream frame of the loop to the strip steel is controlled to adjust the actual width and the actual angle of the strip steel, the speed correction amount of the loop is required to be controlled to be unchanged when the adjusted actual angle meets the preset angle condition, whether the actual width of the strip steel meets the preset width condition is detected, and when the actual width of the strip steel still does not meet the preset width condition, the rolling speed of the downstream frame of the loop is continuously adjusted based on the adjusted actual angle until the strip steel width meets the preset width condition. Thereby realizing precise control of the loop, and effectively solving the problem that the strip steel is continuously narrowed between rough rolling and finish rolling of the continuous casting and continuous rolling production line.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a loop control method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of loop angle control incorporating anti-narrowing functionality provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an exemplary angular closed-loop control architecture provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a loop control device according to an embodiment of the present invention.
Detailed Description
According to the loop control method and device, based on the actual angle and the actual width of the loop, the rolling speed of the frame at the downstream of the loop is adjusted, so that the loop is accurately controlled, and the problem that strip steel is continuously narrowed between rough rolling and finish rolling of a continuous casting and continuous rolling production line is effectively solved.
It should be noted that the present application is directed to a loop between the last rough rolling and the first finish rolling, the upstream frame of the loop being the last rough rolling and the downstream frame of the loop being the first finish rolling. In addition, the angle of the loop referred to in this application is the position of the loop when the metal flows of the upstream stand and the downstream stand in the continuous casting and rolling line are balanced. The position may be adjusted by the amount of jacketing, which is accomplished by the speed modifier of the downstream frame.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
In a first aspect, an embodiment of the present invention provides a loop control method, specifically, as shown in fig. 1, the method includes the following steps S101 to S105.
Step S101, if the actual width of the strip steel is detected not to meet the preset width condition, the following anti-narrowing control step is executed.
As an alternative embodiment, before detecting whether the actual width of the strip meets the preset width condition, the method may include: the loop is controlled to be sleeved by a sleeve lifting torque, wherein the sleeve lifting torque is determined based on the rolled steel grade and the strip steel specification; and detecting whether the actual width of the strip steel meets the preset width condition when detecting that the loop is completed.
In a specific embodiment, before the loop is sleeved by the loop torque, the method may further include: when receiving the biting belt load signal sent by the downstream frame, the loop control system controls the loop to take up the loop by adopting the loop torque. Wherein the bite strip load signal is indicative of a signal when the strip has entered the mill. Namely, when the head of the strip steel enters the loop downstream frame and then the loop is pulled out, the loop pulling moment of the loop is calculated according to the rolling steel grade, the rolling specification and the torque compensation amount of the loop equipment determined by debugging. For example, the rolled steel is alloy steel 30CrMnTi, the rolling specification of the steel is 1250mm multiplied by 1.8mm, and the torque compensation amount of the loop equipment is determined after the steel is debugged, so that the loop lifting moment of the loop is calculated.
Specifically, when the loop control system receives a biting steel belt load signal of the downstream frame, the loop starts to loop, and when the loop does not contact the steel belt, loop-loop torque Tref is adopted to loop, wherein the loop-loop torque Tref is as follows:
T ref ＝f 3 (θ)+f 4 (θ)+f 5 (θ)+f 6 (θ)+T comp
wherein Tref is a torque set value, f3 (theta) strip steel tension torque, f4 (theta) strip steel gravity torque, f5 (theta) loop gravity torque, f6 (theta) strip steel bending torque, tcomp is compensation torque, and theta is loop angle, and different steel types, specifications and angles use different loop lifting torques.
Then, when the completion of loop lifting is detected, before detecting whether the actual width of the strip steel meets the preset width condition, the method can further comprise the following steps: judging whether the loop meets any one of the following conditions; the loop angle reaches a preset cut-in angle value; the loop starting time exceeds a time threshold; the feedback pressure of the hydraulic cylinder of the loop reaches a preset pressure value; the time that the action speed of the loop is smaller than the speed preset value reaches the time preset value; the action rate when the loop reaches the preset angle value of the forced cutting-in is smaller than the preset action rate value; if yes, executing the step of detecting whether the actual width of the strip steel meets the preset width condition.
It should be noted that, the loop angle, loop lifting time, feedback pressure of the hydraulic cylinder of the loop, time when the action rate of the loop is smaller than the preset rate value, and the like can be used for reflecting whether the loop is in a normal running state.
For example, the determining whether the loop meets any of the following conditions may be: the loop angle reaches a preset cut-in angle value of 24deg; the loop lifting time exceeds the time threshold value by 900ms; the feedback pressure of the hydraulic cylinder of the loop reaches a pressure preset value of 50KN; the time that the loop action speed is less than the speed preset value of 3.0deg/s reaches the time preset value of 200ms; the action rate when the loop reaches the preset angle value of 50deg of forced cutting-in is less than the preset action rate value of 0.6deg/s. If any one of the conditions is met, the step of detecting whether the actual width of the strip steel meets the preset width condition or not can be performed, and then the anti-narrowing control is further performed; if none of the five conditions is satisfied, it indicates that the loop control is abnormal, the linkage is not satisfied or the steel scrap is wasted.
As an alternative embodiment, the process of detecting whether the actual width of the strip meets the preset width condition may include: detecting the actual width of the strip steel through a finish rolling outlet instrument, and judging whether the actual width meets the preset width condition, for example: the finish rolling outlet instrument can be a width gauge, and of course, the finish rolling outlet instrument can also be other equipment capable of measuring the width of strip steel at the outlet of the rolling mill besides the width gauge. In addition, the preset width condition may be set based on actual production conditions, and is not limited herein.
Next, when it is detected that the actual width of the strip steel does not meet the preset width condition, the anti-stretching control is started, where in a specific embodiment, the anti-stretching control may include:
step S102, acquiring an angle speed correction value and a width speed correction value of the loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of the strip steel.
In a specific embodiment, as shown in fig. 2, obtaining the corrected value of the angular velocity of the loop may include: calculating a difference value between the actual angle of the loop and the set angle to obtain an angle deviation; and obtaining an angular velocity correction value based on the angular deviation and a preset angular proportional integral algorithm. The actual angle may be measured by an instrument, and the set width is a preset fixed value, so as to determine whether the actual width of the strip steel meets the reference requirement.
Specifically, based on the angular deviation and a preset angular proportional integral algorithm, obtaining the angular velocity correction value may include: the angular deviation, the angular adjustment proportional control gain, the angular adjustment integral control gain, and the angular adjustment total control gain are brought into the formula (θ) REF -θ ACT ) xKG× (KP+ΣKI) to obtain the angular velocity correction value.
The angle speed correction value DeltaV of the frame at the downstream of the loop is obtained through the following formula:
ΔV＝(θ REF -θ ACT )×KG×(KP+∑KI)
wherein θ REF To set the angle θ ACT For practical angles, KP is angle adjustment proportional control gain, KI is angle adjustment integral control gain, KG is angle adjustment total control gain, KP, KI and KG are all empirical parameters, and are determined according to the debugging effect of the production line.
Further, as shown in fig. 2, acquiring the width speed correction value of the loop may include: calculating a difference value between the actual width of the strip steel detected by the finish rolling outlet instrument and the set width to obtain a width deviation; and obtaining a width speed correction value based on the width deviation and a preset width proportional integral algorithm.
Specifically, based on the width deviation and a preset width proportional integral algorithm, obtaining the width speed correction value may include: substituting the width deviation, the angle-adjusted proportional control gain, the angle-adjusted integral control gain, and the angle-adjusted total control gain into the formula (W REF -W ACT )×KG w ×(KP w +∑KI w ) A width speed correction value is obtained.
The width speed correction DeltaV of the frame at the downstream of the loop is obtained by the following formula:
ΔV＝(W REF -W ACT )×KG w ×(KP w +∑KI w )
wherein W is REF To set an angle W ACT KP is the actual angle w For angular adjustment of proportional control gain, KI w For angle adjustment of integral control gain, KG w To adjust the total control gain for angle, KP w 、KI w 、KG w Are all experience parameters and are determined according to the debugging effect of the production line.
Step S103, based on the angle speed correction value and the width speed correction value of the loop, the speed correction value of the downstream frame of the loop is obtained.
After adding the width adjusting part on the basis of angle adjustment, the speed correction amount DeltaV of the frame at the downstream of the loop is as follows:
ΔV＝(W REF -W ACT )×KG w ×(KP w +∑KI w )+(θ REF -θ ACT )×KG×(KP+∑KI)
wherein W is REF To set the finish rolling outlet set width W ACT For the actual width of the finish rolling outlet, θ REF To set the angle θ ACT For the actual angle, KP is the angle adjustment proportional control gain, KI is the angle adjustment integral control gain, KG is the angle adjustment total control gain, KP w 、KI w 、KG w And KP, KI and KG are all empirical parameters and are determined according to the debugging effect of the production line.
Of course, in addition to the speed correction of the downstream frame of the loop obtained by the above method, it can be obtained based on other methods, for example: the speed correction amount of the downstream frame of the loop can be obtained after the actual angle and the actual width are obtained, so that the speed of the downstream frame can be adjusted.
Step S104, based on the speed correction quantity, controlling the rolling speed of the loop downstream frame to the strip steel so as to adjust the actual width of the strip steel and the actual angle of the loop.
In a specific embodiment, as shown in fig. 3, when the speed correction is changed, the rolling speed of the strip on the frame downstream of the loop is changed, and the rolling speed is changed, the tension of the strip is changed, so that the actual width of the strip is affected. In addition, the tension of the strip steel changes, so that the loop hydraulic cylinder acts to cause the actual angle of the loop to change.
It should be noted that, the actual width of the strip may be too narrow or too wide, so the anti-stretching control mentioned in the application needs to control the actual width of the strip to be wider than before the actual angle is detected to be too narrow, that is, by reducing the speed of the frame downstream of the loop, the wider the actual width of the strip and the larger the actual angle of the loop is obtained. Thus, changing the rolling speed of the downstream coil stand against the strip can be said to reduce the rolling speed of the downstream coil stand.
When the actual angle is detected to be too wide, the actual width of the strip steel is controlled to be narrower than that before the strip steel is not controlled, namely, the actual width of the strip steel can be made to be narrower by increasing the speed of a frame at the downstream of the loop, and the actual angle of the loop is obtained to be smaller. Thus, changing the rolling speed of the downstream coil frame to the strip can be said to increase the rolling speed of the downstream coil frame.
Step S105, if the adjusted actual angle meets the preset angle condition, triggering a cascade hold mode, detecting whether the actual width in the cascade hold mode meets the preset width condition, and if not, repeating the anti-stretching control step until the actual width of the strip steel meets the preset width condition. The cascade maintaining mode is an operating mode for maintaining the speed correction quantity of the frame at the downstream of the loop unchanged.
As an alternative embodiment, after adjusting the actual angle of the loop, it may further comprise: detecting whether the difference value between the adjusted actual angle and the set angle of the loop is within a preset angle deviation range, and judging whether the adjusted actual angle meets a preset angle condition.
If the adjusted actual angle meets the preset angle condition, triggering a cascade maintaining mode, detecting whether the actual width in the cascade maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-narrowing control step until the actual width of the strip steel meets the preset width condition. And if the adjusted actual angle does not meet the preset angle condition, repeating the anti-narrowing control step until the actual angle of the loop meets the preset angle condition.
Specifically, if the difference between the adjusted actual angle and the set angle is within the preset angle deviation range, that is, meets the condition of cascade holding control, the system will control the loop to enter a cascade holding mode, so as to keep the speed correction of the downstream frame of the loop unchanged.
If the difference value between the adjusted actual angle and the set angle is not within the preset angle deviation range, repeating the anti-narrowing control step, so as to adjust the actual angle again, and then judging whether the difference value between the actual angle and the set angle after the second adjustment is within the preset angle deviation range. And repeatedly executing the steps until the difference value between the actual angle after multiple times of adjustment and the set angle of the loop is within the preset angle deviation range, and executing the cascade hold mode.
Further, in order to ensure that the actual angle of the loop can reach the set angle quickly in the rolling process, the difference value between the actual angle and the set angle can meet the preset angle condition quickly, the system can trigger cascade connection maintenance control quickly, the size of the angle deviation range can be set according to the on-site rolling condition, different on-site rolling conditions are adopted, and different preset angle deviation ranges are set so as to meet different requirements.
For example, when the set angle of the loop is greater than the actual angle, the angle deviation is smaller than the preset angle deviation value, and in order to ensure that the actual angle can reach the set angle quickly during rolling, the preset angle deviation value is smaller, for example, the preset angle deviation value is 0.1; when the set angle of the loop is smaller than the actual angle, the angle deviation is smaller than the angle deviation preset value, and the deviation preset value takes 0.1.
In a specific embodiment, after the adjusted actual width of the strip steel is obtained, it is required to detect whether the difference between the actual width and the set width of the strip steel in the cascade hold mode is within a preset angle deviation range, and if the difference is within the deviation range (that is, the preset width condition is satisfied), cascade hold control is continuously performed, so as to prevent unstable loop angle caused by frequent correction, thereby changing the actual width again. The actual width of the strip exiting from the finishing outlet is now satisfactory. If the control is still not in the deviation range, the cascade hold mode is not started, and the anti-narrowing control step is continuously executed. And then continuously judging whether the actual width of the adjusted strip steel meets the preset width condition or not until the actual width of the strip steel meets the preset width condition.
Specifically, the procedure of performing the cascade hold mode may specifically be: when the actual width of the strip steel after adjustment meets the preset width condition, controlling the speed correction value of the loop to be the current speed correction value.
The preset width condition may be determined according to rolling specifications, for example: when the actual width of the strip steel is larger than 1400mm, the minimum value of the width deviation in the preset width condition is 5.0mm, and the maximum value is 18mm; when the actual width of the strip steel is less than or equal to 1400mm, the minimum value of the width deviation in the preset width condition is 4.0mm, and the maximum value is 18mm.
For example, it may be determined whether or not the adjusted actual width needs to continue the anti-narrowing control based on the following conditions: the width deviation between the actual width and the set width of the strip steel is smaller than the minimum value of the width deviation in the preset width condition; the width deviation between the actual width and the set width of the strip steel is larger than the maximum value of the width deviation in the preset width condition. If any one of the conditions is met (namely the actual width of the strip steel is too wide or too narrow), entering loop anti-stretching control, and if neither of the conditions is met, enabling the loop anti-stretching control, and executing a cascade holding mode.
Further, in order to avoid that the width of the strip steel does not meet the requirement when the angle of the loop meets the requirement, the strip steel is continuously narrowed, and the angle theta is set REF Will vary depending on the width deviation situation.
Specifically, when the strip steel has a tendency to be narrowed (i.e., when the actual width of the strip steel is small and the width deviation is large), the set angle θ needs to be adjusted REF The set angle is set as follows: at an actual angle theta ACT The added value can be determined according to the specific situation; after the drawing trend of the strip steel is disappeared, gradually reducing to the initial set angle REF θ. For example, the angle may gradually decrease to an initial set angle in a ramp manner after the narrowing trend is eliminated REF θ. Thus, the situation that the loop angle meets the requirement of the cascade holding mode and the width of the strip steel still does not meet the preset width condition can be avoided.
It should be noted that, when the angle deviation of the loop is within the preset angle deviation range and the detected actual width of the strip steel is greater than or equal to the set width, the input of the width speed correction value is turned off and the set angle is controlled to return to the normal value, and the speed correction value Δv of the downstream frame is based on the formula Δv= (θ) REF -θ ACT ) And (3) calculating xKG× (KP plus Sigma KI), and ending the strip steel anti-drawing control.
Specifically, as shown in fig. 3, a specific process of the exemplary anti-narrowing control provided in the embodiment of the present application is:
after the speed correction value of the loop downstream frame is obtained, the speed correction value is acted on a downstream frame speed controller, and the speed controller feeds information back to the main motor for executing speed setting, so that the strip steel tension changes, and the tension changes enable the loop hydraulic cylinder to act. At this time, the loop hydraulic cylinder action causes the loop angle feedback value to change, and on the other hand, the calculation of the loop moment can be obtained through the loop hydraulic cylinder action and the loop tension set value, so as to obtain the loop pressure set value.
The loop pressure then acts on the loop pressure controller, which will calculate the servo valve set point and transmit it to the servo valve, so that the loop cylinder will act, further the pressure sensor feedback value will change with the cylinder action, and the change in the pressure sensor feedback value will adjust the servo valve set point. Thereby enabling the loop pressure controller, the servo valve, the loop hydraulic cylinder action and the feedback value of the pressure sensor to form closed loop control. On the other hand, the loop hydraulic cylinder controlled by the servo valve acts, the loop angle feedback value also changes along with the action of the hydraulic cylinder, and the change of the loop angle feedback value causes the correction change of the angle speed, so that the anti-narrowing control is finally formed.
In brief, the specific flow of the loop control method provided by the application may be as follows: step one, in the loop lifting stage, when a loop control system receives a biting steel belt load signal of a downstream frame, a loop is lifted by adopting a loop lifting torque, and the loop lifting torque is calculated based on a rolling steel type, a specification, a torque compensation quantity of loop equipment determined by debugging and the like. And step two, judging whether to enter the anti-stretching control of the loop after the loop is lifted, and continuously adjusting the loop angle based on the anti-stretching control of the loop if the loop is lifted. And thirdly, after the angle of the loop is regulated through the anti-narrowing control, judging whether the deviation between the actual angle of the loop and the set angle is within an allowable range, and if so, starting a cascade holding mode of the loop. And step four, after the loop angle is regulated in the loop cascade holding mode, judging whether the deviation value of the actual width and the set width of the strip steel detected by the finish rolling outlet instrument meets the preset width condition, if not, starting a loop anti-narrowing control method, regulating the loop set angle, and reducing the speed correction quantity of a loop downstream frame.
The loop control method provided by the invention has the following beneficial technical effects:
1. the cascade maintaining function control function is added in the control method, and the occurrence of instability of the rolling mill caused by frequent fluctuation of the loop angle is reduced through the cascade maintaining function. 2. The width of the strip steel at the outlet of the finishing mill is monitored through the anti-narrowing function, the loop amount is quickly adjusted to correct the speed of the downstream stand in time, and the running stability of the rolling mill and the qualification rate of strip steel products in a continuous casting and rolling production line can be effectively improved.
In a second aspect, based on the same inventive concept, the present embodiment provides a loop control device applied to a loop control system of a continuous casting and rolling line, as shown in fig. 4, where the device includes:
the anti-stretching control module 401 is configured to execute the following anti-stretching control step if it is detected that the actual width of the strip steel does not meet the preset width condition:
acquiring an angle speed correction value and a width speed correction value of a loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of strip steel;
obtaining the speed correction of the frame at the downstream of the loop based on the angle speed correction value and the width speed correction value of the loop;
controlling the rolling speed of the downstream frame of the loop on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop;
and the control module 402 is configured to trigger the cascade hold mode if the adjusted actual angle meets a preset angle condition, and detect whether the actual width in the cascade hold mode meets the preset width condition, and if not, repeatedly execute the anti-stretching control step until the actual width of the strip steel meets the preset width condition.
As an alternative embodiment, the apparatus further comprises:
and the circulation control module is used for repeatedly executing the anti-narrowing control step if the adjusted actual angle does not meet the preset angle condition until the actual angle of the loop meets the preset angle condition.
As an alternative embodiment, the apparatus further comprises:
the detection module is used for detecting whether the difference value between the adjusted actual angle and the set angle of the loop is within a preset angle deviation range or not, and judging whether the adjusted actual angle meets a preset angle condition or not.
As an alternative embodiment, the anti-narrowing control module 401 further includes:
the first calculation sub-module is used for calculating a difference value between the actual angle of the loop and the set angle to obtain an angle deviation;
the first acquisition sub-module is used for obtaining an angle speed correction value based on the angle deviation and a preset angle proportional integral algorithm.
As an alternative embodiment, the first obtaining sub-module is specifically configured to: the angular deviation, the angular adjustment proportional control gain, the angular adjustment integral control gain, and the angular adjustment total control gain are brought into the formula (θ) REF -θ ACT ) xKG× (KP+ΣKI) to obtain the corrected value of angular velocity.
As an alternative embodiment, the anti-narrowing control module 401 further includes:
the second calculation submodule is used for calculating a difference value between the actual width of the strip steel detected by the finish rolling outlet instrument and the set width to obtain a width deviation;
and the second acquisition sub-module is used for obtaining a width speed correction value based on the width deviation and a preset width proportional integral algorithm.
As an alternative embodiment, the second obtaining sub-module is specifically configured to: substituting the width deviation, the angle-adjusted proportional control gain, the angle-adjusted integral control gain, and the angle-adjusted total control gain into the formula (W REF -W ACT )×KG w ×(KP w +∑KI w ) A width speed correction value is obtained.
As an alternative embodiment, the apparatus further comprises:
the loop lifting control module is used for controlling loop lifting by adopting loop lifting torque, wherein the loop lifting torque is determined based on the rolled steel grade and the strip steel specification;
the detection module is used for detecting whether the actual width of the strip steel meets the preset width condition when the loop lifting is detected to be completed.
As an alternative embodiment, the sleeving control module includes:
the parameter acquisition submodule is used for determining strip steel tension torque, strip steel gravity torque, loop gravity torque, strip steel bending torque and compensation torque based on rolled steel grades and strip steel specifications;
the loop-lifting torque obtaining submodule is used for bringing the set angle of the loop, the strip steel tension torque, the strip steel gravity torque, the loop gravity torque, the strip steel bending torque and the compensation torque into a formula T ref ＝f 3 (θ)+f 4 (θ)+f 5 (θ)+f 6 (θ)+T comp And (5) obtaining the sleeve lifting torque.
The above modules may be implemented by software code, in which case the above modules may be stored in a memory of the control device. The above modules may equally be implemented by hardware, such as an integrated circuit chip.
The loop control device provided by the embodiment of the invention is applied to a loop control system of a continuous casting and rolling production line, and the implementation principle and the produced technical effects are the same as those of the embodiment of the method, and for the sake of brief description, the corresponding contents in the embodiment of the method can be referred to for the parts of the embodiment of the device which are not mentioned.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A loop control method, characterized in that it is applied to a loop control system of a continuous casting and rolling line, the method comprising:
if the actual width of the strip steel is detected not to meet the preset width condition, executing the following anti-narrowing control steps:
acquiring an angle speed correction value and a width speed correction value of the loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of the strip steel;
obtaining a speed correction amount of a frame downstream of the loop based on the angular speed correction value of the loop and the width speed correction value;
controlling the rolling speed of the loop downstream frame on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop;
if the adjusted actual angle meets the preset angle condition, triggering a cascade maintaining mode, detecting whether the actual width in the cascade maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-stretching control step until the actual width of the strip steel meets the preset width condition;
wherein the cascade hold mode is a working mode for keeping the speed correction amount of the frame at the downstream of the loop unchanged.
2. The method as recited in claim 1, further comprising:
and if the adjusted actual angle does not meet the preset angle condition, repeating the anti-narrowing control step until the actual angle of the loop meets the preset angle condition.
3. The method of claim 1, further comprising, after adjusting the actual angle of the loop:
detecting whether the difference value between the adjusted actual angle and the set angle of the loop is within a preset angle deviation range, and judging whether the adjusted actual angle meets the preset angle condition.
4. The method of claim 1, wherein said obtaining an angular velocity correction value for said loop comprises:
calculating a difference value between the actual angle of the loop and the set angle to obtain an angle deviation;
and obtaining the angular velocity correction value based on the angular deviation and a preset angular proportional integral algorithm.
5. The method of claim 4, wherein the obtaining the angular velocity correction value based on the angular deviation and a preset angular proportional integral algorithm comprises:
bringing the angular deviation, the angular adjustment proportional control gain, the angular adjustment integral control gain, and the angular adjustment total control gain into a formula (θ) REF -θ ACT ) xKG× (KP+ ΣKI), the angular velocity correction value is obtained, wherein θ REF -θ ACT And for the angle deviation, KP is the angle adjustment proportional control gain, KI is the angle adjustment integral control gain, and KG is the angle adjustment total control gain.
6. The method of claim 1, wherein said obtaining a width speed correction value for said loop comprises:
calculating a difference value between the actual width of the strip steel detected by the finish rolling outlet instrument and the set width to obtain a width deviation;
and obtaining the width speed correction value based on the width deviation and a preset width proportional integral algorithm.
7. The method of claim 6, wherein obtaining the width speed correction value based on the width deviation and a preset width proportional integral algorithm comprises:
substituting the width deviation, width adjustment proportional control gain, width adjustment integral control gain, and width adjustment total control gain into a formula (W REF -W ACT )×KG w ×(KP w +∑KI w ) Obtaining the width speed correction value, wherein the W is REF -W ACT For the width deviation, the KP w Adjusting the proportional control gain, KI, for the width w Adjusting the integral control gain, KG, for said width w The total control gain is adjusted for the width.
8. The method as recited in claim 1, further comprising:
controlling the loop to adopt a loop lifting torque, wherein the loop lifting torque is determined based on the rolled steel grade and the strip steel specification;
and detecting whether the actual width of the strip steel meets the preset width condition or not when detecting that the loop is completely opened.
9. The method of claim 8, wherein the jacketing torque is determined based on:
determining strip steel tension torque, strip steel gravity torque, loop gravity torque, strip steel bending torque and compensation torque based on the rolled steel grade and strip steel specification;
bringing the set angle of the loop, the strip steel tension torque, the strip steel gravity torque, the loop gravity torque, the strip steel bending torque and the compensation torque into a formula T ref ＝f 3 (θ)+f 4 (θ)+f 5 (θ)+f 6 (θ)+T comp Obtaining the loop lifting torque, wherein Tref is the loop lifting torque, f3 (theta) is the strip steel tension torque, f4 (theta) is the strip steel gravity torque, f5 (theta) is the loop gravity torque, f6 (theta) is the strip steel bending torque, tcomp is the compensation torque, and theta is the loop setting angle.
10. A loop control device for use in a loop control system of a continuous casting and rolling line, the device comprising:
the anti-stretching control module is used for executing the following anti-stretching control steps if the actual width of the strip steel is detected to not meet the preset width condition:
acquiring an angle speed correction value and a width speed correction value of the loop, wherein the angle speed correction value is determined based on an actual angle and a set angle of the loop, and the width speed correction value is determined based on an actual width and a set width of the strip steel;
obtaining a speed correction amount of a frame downstream of the loop based on the angular speed correction value of the loop and the width speed correction value;
controlling the rolling speed of the loop downstream frame on the strip steel based on the speed correction amount so as to adjust the actual width of the strip steel and the actual angle of the loop;
and the control module is used for triggering a cascade connection maintaining mode if the adjusted actual angle meets the preset angle condition, detecting whether the actual width in the cascade connection maintaining mode meets the preset width condition, and if not, repeatedly executing the anti-narrowing control step until the actual width of the strip steel meets the preset width condition, wherein the cascade connection maintaining mode is a working mode for maintaining the speed correction quantity of the frame at the downstream of the loop unchanged.
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