CN202527481U

CN202527481U - Cold-rolling belt steel-plate-type feed forward control system

Info

Publication number: CN202527481U
Application number: CN2012200297368U
Authority: CN
Inventors: 解相朋; 赵菁
Original assignee: Wisdri Engineering and Research Incorporation Ltd
Current assignee: Wisdri Engineering and Research Incorporation Ltd
Priority date: 2012-01-30
Filing date: 2012-01-30
Publication date: 2012-11-14
Anticipated expiration: 2022-01-30

Abstract

The utility model discloses a cold-rolling belt steel-plate-type feed forward control system which comprises a rolling force variation calculation module, a control parameter revising module, a regulating variation calculating module, and a bent roller feed forward control operation module. The rolling force variation calculation module is used for calculating present rolling force variations between adjacent control cycles. The control parameter revising module is used for self-learning revise of the control parameter, and a plate shape variation due to unit rolling force after the self-learning revise can be obtained. The regulating variation calculating module is used for calculating optimal bent roller regulating variations of a working roll and a middle roll of a rolling mill. The bent roller feed forward control operation module and the regulating variation calculating module are used for adjusting the working roll and the middle roll according to the optimal bent roller regulating variations of the working roll and the middle roll of a rolling mill. The cold-rolling belt steel-plate-type feed forward control system can effectively control the problem of plate shape quality worsening due to frequent vibration of the rolling force during a cold-rolling belt steel rolling process through the optimal bent roller regulating variations of the working roll and the middle roll.

Description

Feedforward control system for cold-rolled strip steel plate shape

Technical Field

The utility model relates to a cold-rolled strip steel technical field specifically is a cold-rolled strip steel plate-type feedforward control system.

Background

With the rapid development of equipment manufacturing industry at home and abroad, the requirements of downstream users on the plate shape quality of cold-rolled strip steel products are increasingly increased, especially for the industries of high-grade automobiles, high-end IT product manufacturing and the like. Therefore, the quality of the cold-rolled strip has become one of the main technical indexes for examining the strip product. From the control technology perspective, the cold-rolled strip steel plate shape control technology is a highly complex technology which integrates a plurality of subject knowledge of processes, equipment, hydraulic pressure, control, computers and the like and mutual coupling of control system parameters. A great amount of manpower, material resources and financial resources are invested by various iron and steel united enterprises and research institutions at home and abroad to research and develop methods and technologies for improving the plate shape control precision so as to enhance the core technology and market competitiveness of the iron and steel enterprises.

In the cold rolling production process, the rolling force is influenced by various factors such as deformation resistance, incoming material thickness, friction factor, front and back tension distribution and the like of the strip steel to change. Meanwhile, in order to overcome adverse effects caused by factors such as thermal expansion of a roller and abrasion of the roller, which cannot be accurately predicted, an Automatic Gauge Control (AGC) system of the cold-rolled strip steel needs to continuously adjust the distribution of the roller gap, so that the rolling force is changed in a large range. The variation in the rolling force affects the elastic deformation of the work rolls and thus the shape of the rolled strip. In extreme cases, if the rolling force is changed too much, the tension of the edge of the strip steel is increased sharply, and the strip breakage accident is caused. In order to eliminate the adverse effect of the rolling force variation on the strip shape, the most effective method is to make corresponding compensatory adjustment on the rolling mill roll bending devices (including the working roll bending devices and the intermediate roll bending devices) according to the rolling force variation so as to counteract the strip shape effect caused by the rolling force variation, and the control system is generally called as a strip shape feedforward control system.

So far, researchers of cold-rolled strip steel plate shape control technologies at home and abroad carry out more intensive research on plate shape feedforward control technologies and systems. Researchers establish a plate shape feedforward control model combining a working roll and a middle roll bending roll, and in the core control model, the distribution of rolling force along the width direction of a strip steel and the regulation and control coefficient of the roll bending roll to the distribution of the loaded roll gap rolling force are two very key control parameters. Usually, a designer calculates the control parameters under multiple working conditions by a theoretical calculation method such as a roll system elastic deformation model, and then stores the calculated control parameters in a form of a table in a plate shape control system according to the difference of the transverse moving position of the intermediate roll and the width of the strip steel. The plate shape feedforward control system can overcome the adverse effect of rolling force on the plate shape to a certain extent and improve the plate shape control quality; however, if the accuracy of the shape control is further improved, it has two disadvantages: 1) the rolling of cold-rolled strip steel is a complex system influenced by various factors, so that the distribution of the rolling force along the width direction of the strip steel with high precision and the regulation and control coefficient of the roll bending roll to the distribution of the roll gap rolling force are difficult to obtain only by a theoretical calculation method. 2) The strip shape in-line control system comprises two subsystems, namely a feedforward control subsystem and a closed-loop feedback control subsystem, so that the outlet strip shape is the result of the two subsystems acting together, namely the feedforward control subsystem and the closed-loop feedback control subsystem are required to be matched with each other. At present, the closed-loop feedback control part of the plate shape of the rolling mill is mature, and the online self-learning algorithm research of the plate shape regulation and control coefficient of the rolling mill plate shape regulation and control device of the closed-loop feedback control part of the rolling mill plate shape is greatly developed. However, the existing plate shape feedforward control system is relatively isolated to research the problem of feedforward control on the rolling force, the used control parameters and the control parameters used by the closed-loop feedback control system cannot be well unified, and the high-precision control parameters (such as the plate shape regulation and control coefficient of a high-precision rolling mill plate shape regulation and control device) obtained in the closed-loop feedback control system cannot be applied to the plate shape feedforward control system.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a cold-rolled strip steel plate-shape feedforward control system can realize coming the effective control to the plate-shape quality deterioration problem that causes because the rolling force frequently fluctuates at the rolling in-process of cold-rolled strip steel with optimum working roll and middle roll bending roll regulating variable.

In order to solve the technical problem, the utility model provides a cold-rolled steel strip shape feedforward control system, include:

the rolling force variation calculation module is used for periodically receiving the rolling force F of the rolling mill and subtracting the rolling force of the previous control period from the rolling force of the current control period to obtain the rolling force variation delta F of the current adjacent control period;

the control parameter correction module is used for periodically receiving the rolling force F of the last two control periods, the plate shape sigma of the last control period and the control period, the regulating quantity U of the plate shape regulating and controlling mechanism in the last control period and the plate shape variable quantity delta F 'caused by the unit rolling force variable quantity before the self-learning correction, and performing self-learning correction on the control parameters by utilizing the rolling force F, the rolling force sigma, the plate shape regulating and controlling mechanism in the last control period and the plate shape variable quantity delta F' caused by the unit rolling force variable quantity before the self-learning correction to obtain the plate shape variable quantity delta F caused by the unit rolling force variable;

the regulating quantity calculating module is respectively connected with the rolling force variation calculating module and the control parameter correcting module and is used for calculating the optimal bending roll regulating quantity u of the working roll of the rolling mill according to the rolling force variation delta F in the current adjacent control period, the plate shape variation delta F caused by the unit rolling force variation after self-learning correction and the plate shape regulating coefficient E of the rolling mill plate shape regulating and controlling device_WAnd the optimal roll bending adjustment u of the intermediate roll_I；

A roll bending feedforward control execution module and the regulating quantity calculation module which are used for calculating the optimal roll bending regulating quantity u of the working roll of the rolling mill_WAnd the optimal roll bending adjustment u of the intermediate roll_IThe two roll bending devices of the working roll and the intermediate roll are adjusted.

Further, still include:

the feed-forward control mode judging module is connected with the rolling force variation calculating module and the control parameter correcting module and is used for judging whether the current rolling force variation delta F calculated by the rolling force variation calculating module exceeds a preset limit value or not, and if the current rolling force variation delta F exceeds the preset limit value, sending an execution instruction to the control parameter correcting module;

and after receiving the execution instruction, the control parameter correction module performs self-learning correction on the control parameters, otherwise, the control parameter correction module does not perform self-learning correction.

Further, still include:

and the data acquisition module, the rolling force variation calculation module, the control parameter correction module and the regulating quantity calculation module are used for periodically receiving process data generated in the rolling process of the cold-rolled strip steel and sending the process data to the rolling force variation calculation module, the control parameter correction module and the regulating quantity calculation module.

Further, still include:

and the storage module is respectively connected with the rolling force variation calculation module, the control parameter correction module, the regulating quantity calculation module and the data acquisition module and is used for storing data and parameters. The utility model discloses a cold rolled steel strip plate-shape feedforward control system can realize coming the effective control to the plate-shape quality deterioration problem that causes because the frequent undulant of rolling force at cold rolled steel strip rolling in-process with optimum working roll and middle roll bending roll regulating variable.

The utility model discloses a cold rolled steel strip plate-shape feedforward control system can realize coming the effective control to the plate-shape quality deterioration problem that causes because the frequent undulant of rolling force at cold rolled steel strip rolling in-process with optimum working roll and middle roll bending roll regulating variable.

Drawings

FIG. 1 is a block diagram of the feedforward control system for cold-rolled strip shape according to an embodiment of the present invention.

Fig. 2 is a control process flow chart of the embodiment of the present invention.

Fig. 3 is a prior initial curve diagram of the plate shape variation caused by the unit rolling force variation of the embodiment of the present invention.

FIG. 4 is a distribution diagram of the cold-rolled strip outlet profile without the profile feedforward control system.

FIG. 5 is a profile diagram of the outlet profile of the cold-rolled steel strip when the profile feedforward control system of the present invention is used (excluding the self-learning step).

FIG. 6 is a profile diagram of the cold-rolled steel strip outlet profile when the profile feedforward control system (including the self-learning step) of the present invention is used.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

The utility model provides an advanced plate-shaped feedforward control system. The plate shape feedforward control system provides a novel plate shape feedforward control model, firstly, the plate shape distribution in the width direction of the strip steel caused by the change of the rolling force is used for replacing the distribution of the rolling force in the width direction of the strip steel, so that a designer can use the regulation and control coefficient of a high-precision rolling mill plate shape regulation and control device to the plate shape to replace the regulation and control coefficient of a roll bending roll to the distribution of the rolling force of an on-load roll gap, and the seamless connection between the plate shape feedforward control system and a closed-loop feedback control system is realized; secondly, the strip shape distribution in the width direction of the strip steel caused by the rolling force change is self-learned on line, relevant control parameters are corrected by utilizing actual production data, and the strip shape distribution in the width direction of the strip steel caused by the high-precision rolling force change is obtained. The method effectively overcomes the technical defects of the conventional plate shape feedforward control system, and provides powerful guarantee for high-precision cold-rolled strip steel plate shape control.

As shown in fig. 1, the feedforward control system for cold-rolled steel strip shape of the present invention comprises:

the data acquisition module is used for periodically receiving process data generated in the rolling process of the cold-rolled strip steel, and comprises: the strip shape signal sigma sent by a contact type strip shape instrument arranged at a rolling outlet, the rolling force signal F sent by a rolling force sensor and the regulating quantity U of the plate shape regulating mechanism in each control period;

a rolling force variation calculating module; the rolling force signal receiving module is used for periodically receiving a rolling force signal F of the rolling mill, and subtracting the rolling force signal of the previous control period from the rolling force signal of the current control period to obtain the rolling force variation delta F in the current adjacent control period, wherein the unit is KN;

the feed-forward control mode judging module is used for judging whether the current rolling force variation delta F exceeds the limit or not, if so, the identification signal S is made to be 1, and if not, the identification signal S is made to be 0, which means that the plate-shaped feed-forward control in the control period is not needed;

the storage module is used for periodically receiving the strip shape signal sigma, the rolling force signal F of the rolling mill and the regulating variable U of the strip shape regulating mechanism, and storing the strip shape signal sigma, the rolling force signal F of the rolling mill and the regulating variable U of the strip shape regulating mechanism in a strip shape computer database according to the time sequence of process data acquisition, and meanwhile, a strip shape regulating coefficient E of a strip shape regulating device of the rolling mill and a strip shape variable delta F' caused by unit rolling force variable before self-learning correction are stored in the module;

a control parameter correction module, configured to periodically receive an identification signal S, rolling force signals F in the last two control periods, a strip shape signal σ in the last control period and the control period, an adjustment amount U of a strip shape adjustment mechanism in the last control period, and a strip shape variation Δ F caused by a unit rolling force variation before the self-learning correction, and if S is 1, perform self-learning correction on a key control parameter (the strip shape variation caused by the unit rolling force variation) by using process data received by the module to obtain the strip shape variation Δ F caused by the unit rolling force variation after the self-learning correction, and send Δ F to the cold-rolled strip steel rolling process data storage module to update the value of Δ F' in the module, where the self-learning rule of the key control parameter Δ F is:

Δf_i＝Δf′_i+v_i×ΔF′×Δσ_i，i＝1，2，…，n

in the formula, n is the number of effective strip shape measuring points of the contact type strip shape gauge for the rolled strip steel; Δ f_iThe unit of the strip shape variation caused by the unit rolling force variation at the ith strip shape measuring point after self-learning correction is the international unit I/KN or I/MN of the strip shape; delta f'_iThe method is characterized in that the method is used for self-learning the plate shape variation caused by the unit rolling force variation at the ith plate shape measuring point before correction, the initial value of the plate shape variation can be obtained by conventional theoretical calculation or a manual experiment method during rolling line debugging, and a certain amount of error is allowed to exist in comparison with the actual value of the initial value; v. of_iThe learning factor at the ith plate shape measuring point is usually between 0.3 and 2.0; delta F' is the difference between the rolling force of the previous control period and the rolling force of the previous two control periods; delta sigma_iIs due to the fact thatThe calculation method of the strip steel plate shape variation quantity at the ith plate shape measuring point caused by the rolling force fluctuation of the previous control period and the previous two control periods comprises the following steps: the shape measured by the shape meter at the beginning of the previous control period is subtracted from the shape measured by the shape meter at the beginning of the current control period at the ith shape measuring point, and then the shape change quantity generated at the ith shape measuring point by the regulating quantity generated by each shape regulating and controlling device in the previous control period is subtracted;

the regulating quantity calculating module is used for periodically receiving the rolling force variation delta F in the current adjacent control period, the plate shape variation delta F caused by the unit rolling force variation after self-learning correction and the plate shape regulating coefficient E of the rolling mill plate shape regulating and controlling device, and establishing a cold-rolled strip steel feedforward control model consisting of the three control parameters and feedforward control regulating quantity:

in the formula, E_iwThe shape regulating coefficient of the working roll bending device corresponding to the ith shape measuring point is represented, and the unit is I/KN; e_iIThe shape regulating coefficient of the middle roll bending device corresponding to the ith shape measuring point is represented, and the unit is I/KN; u. of_wThe adjustment quantity of the rolling mill working roll bending device is given for the plate shape feedforward control method, and the unit is KN; u. of_IThe adjustment quantity of the rolling mill intermediate roll bending device is given for the plate shape feedforward control method, and the unit is KN; delta_iDue to Δ f_iModel errors caused by deviations from their actual values,

and then, on-line calculating the optimal bending roll regulating quantity signal u of the working roll of the rolling mill by taking the optimization target of eliminating the adverse effect of the rolling force fluctuation on the plate shape to the maximum extent as an optimization target_WAnd the optimal roll bending regulating quantity signal u of the intermediate roll_IThe method comprises the following steps:

1) first, an objective optimization function is defined for the model control variables:

2) the utility model discloses an orthogonal decomposition least square algorithm carries out u_WAnd u_IThe optimal regulating quantity calculation comprises the following steps:

a) firstly, utilizing a Gram-Schmidt matrix orthogonal decomposition algorithm to perform the following treatment on the working roll and middle roll plate shape regulation coefficient matrix:

wherein,

W = [\begin{matrix} w_{11} & w_{12} \\ w_{21} & w_{22} \\ . & . \\ . & . \\ . & . \\ w_{n 1} & w_{n 2} \end{matrix}],

and is provided with

A = [\begin{matrix} 1 & a \\ 0 & 1 \end{matrix}],

b) Calculating u_wAnd u_IThe optimal adjustment amount of (c):

a roll bending feedforward control execution module for periodically receiving the optimal roll bending regulating quantity signal u of the working roll of the rolling mill_WAnd the optimal roll bending regulating quantity signal u of the intermediate roll_IThe device is used for driving the online adjustment of two roll bending devices of the working roll and the middle roll, and realizes the plate shape feedforward control function in the control period.

The feedforward control method of the cold-rolled strip steel plate shape can be used for four-roller, six-roller single-frame or multi-frame cold continuous rolling units. Taking a single-stand six-roller mill as an example, the products which can be rolled by the six-roller mill include common plates, high-strength steel, partial stainless steel, silicon steel and the like. The rolled silicon steel is medium and high grade silicon steel, the model is a UCM rolling mill, and the plate shape control means comprises roll inclination, positive and negative bending rolls of a working roll, positive bending rolls of an intermediate roll, roll shifting of the intermediate roll, sectional cooling of emulsion and the like. The middle roller shifting is preset according to the width of the strip steel, the adjustment principle is to align the edge of the middle roller body with the edge of the strip steel, and an adjustment amount can be considered by an operator and is kept unchanged after the adjustment is in place; the emulsion cooling in sections has a large time lag characteristic. Therefore, the plate shape control means of online adjustment mainly comprises three types, namely roll inclination, positive and negative bending rolls of a working roll and positive bending roll of a middle roll. The main technical performance indexes and equipment parameters of the unit are as follows:

rolling speed: max 900m/min, rolling pressure: max 18000KN, maximum rolling moment: 140.3KN × m, winding tension: max 220KN, main motor power: 5500 KW;

incoming material thickness range: 1.8-2.5 mm, incoming material width range: 850-1280 mm, and the thickness range after rolling is as follows: 0.3 mm-1.0 mm;

diameter of the working roll: 290-340 mm, length of the working roll: 1400mm, intermediate roll diameter: 440-500 mm, the middle roller body is long: 1640mm, support roll diameter: 1150 ~ 1250mm, the backing roll body length: 1400 mm;

bending force of each side working roll: -280 to 350KN, intermediate roll bending force per side: 0-500 KN, axial displacement of the intermediate roll: 120-120 mm, auxiliary hydraulic system pressure: 14MPa, balance roll bending system pressure: 28MPa, pressure of the reduction system: 28 MPa.

As shown in fig. 2, the specific working process of the feedforward control of the cold-rolled strip shape by using the method of the embodiment is as follows:

1) according to the actual engineering situation, the control period of the plate shape feedforward control method is selected to be 200 ms. And when the plate shape feedforward control system runs on line, acquiring the magnitude of the rolling force on line every 200ms, and storing the on-line acquisition results in a plate shape control computer according to the acquisition sequence. And subtracting the rolling force acquired in the previous control period from the rolling force acquired in the current control period to obtain the rolling force variation delta F in the current adjacent control period, wherein the unit is KN. And judging whether the rolling force variation delta F exceeds the limit, and if not, not needing the plate shape feedforward control of the control period. In this example, 100KN is used as a criterion for determining whether the rolling force is exceeded, that is, if Δ F is equal to or greater than 100KN, the rolling force variation is considered to be exceeded, whereas if Δ F is equal to or greater than 100KN, the rolling force variation is considered not to be exceeded.

2) The plate shape measuring device adopted in the embodiment is a plate shape measuring roller of ABB company in Sweden, the roller diameter of the plate shape measuring roller is 313mm, the roller diameter of the plate shape measuring roller is composed of a solid steel shaft, the roller diameter is divided into measuring areas every 52mm along the width direction, four grooves are uniformly distributed on the periphery of the measuring roller along the axial direction in each measuring area to place magnetoelastic force sensors, and the outer sides of the sensors are wrapped by steel rings. Product specification (thickness × width): 0.80mm by 1040 mm. It can be seen that the rolled strip steel can cover 1040/52-20 strip shape measuring areas in total, that is, the number n of effective strip shape measuring points of the contact type strip shape gauge for the rolled strip steel is 20.

Performing online self-learning correction of the plate shape variation caused by unit rolling force variation by using field data in the rolling process:

Δf_i＝Δf′_i+v_i×ΔF′×Δσ_i，i＝1，2，…，20

in the formula,. DELTA.f_iThe unit of the strip shape variation caused by the unit rolling force variation at the ith strip shape measuring point after the self-learning correction is strip shape international unit I/KN or I/MN; delta f'_iThe shape variation caused by the unit rolling force variation at the ith shape measurement point before the self-learning correction is carried out; the initial value of the plate shape variation caused by the unit rolling force variation can be calculated by a conventional theoretical value or obtained by a manual experiment method during the rolling line debugging, compared with the real value, the initial value is allowed to have a certain amount of error, and a priori initial curve graph of the plate shape variation caused by the unit rolling force variation in the embodiment is shown in fig. 3; v. of_iThe value of the learning factor at the ith plate shape measuring point is 0.6 in the embodiment; Δ F' is the difference between the rolling force of the previous control period and the rolling force of the previous control period, and the values are all in accordance withThe data acquisition sequence is stored in the plate computer; delta sigma_iThe calculation method is that the variation of the strip shape of the strip steel at the ith strip shape measuring point caused by the rolling force fluctuation of the previous control period and the previous two control periods is as follows: and the ith plate shape measuring point subtracts the plate shape measured by the plate shape meter in real time when the previous control period starts from the plate shape measured by the plate shape meter in real time when the current control period starts, and then subtracts the plate shape change quantity generated by the adjustment quantity of each plate shape regulating and controlling device at the ith plate shape measuring point in the previous control period. In particular, Δ σ in this example_iThe calculation formula of (2) is as follows:

Δσ_i＝f_1i-f_2i-E_Si×U_S-E_Wi×U_W-E_Ii×U_I，

in the formula (f)_1iThe shape of the ith plate shape measuring point is measured by a plate shape instrument in real time when the current control period starts; f. of_2iThe shape of the ith plate shape measuring point is measured by the plate shape instrument in real time when the previous control period starts; e_Si、E_WiAnd E_IiThe strip shape regulating and controlling coefficients of the rolling mill roll tilting device, the working roll positive and negative roll bending device and the intermediate roll positive roll bending device at the ith strip shape measuring point are provided by a conventional strip shape closed-loop control system, wherein the unit of the strip shape regulating and controlling coefficients is I/KN; u shape_S、U_WAnd U_IAnd respectively showing the actual regulating quantities of the roll tilting device, the working roll positive and negative roll bending device and the intermediate roll positive roll bending device of the rolling mill in the previous control period, wherein the unit is KN.

3) Establishing a cold-rolled strip steel plate shape feedforward control model, and determining a physical relation between rolling force variation and plate shape variation:

in the formula, E_iWThe strip shape regulating coefficient of the positive and negative working roll bending devices corresponding to the ith strip shape measuring point is represented, and the unit is I/KN; e_iIThe shape regulating coefficient of the middle roll bending device corresponding to the ith shape measuring point is represented, and the unit is I/KN; u. of_WFor feed-forward control of the strip shapeThe adjustment quantity of the positive and negative roll bending devices of the working roll of the rolling mill is given in the unit of KN; u. of_IThe adjustment quantity of the rolling mill intermediate roll positive roll bending device is given by a plate shape feedforward control method, and the unit is KN; delta_iDue to Δ f_iModel errors due to deviations from their actual values.

4) Defining a target optimization function of the model control variable, and calculating the optimal roll bending regulating quantity of the working roll and the intermediate roll of the rolling mill on line by utilizing an orthogonal decomposition least square algorithm

The objective optimization function chosen for this example is:

the optimization objective for the above function is to solve for u online_WAnd u_ISo that the function J takes a minimum value. For the optimization problem, people usually use a conventional least square algorithm to solve, but the optimization algorithm is easy to generate strong sensitivity to model errors when the correlation between the shape regulation and control coefficients of the working roll and the middle roll bending device is large, so that the calculation result is divergent or notIn short, the conventional least squares algorithm is less robust in this case. In order to overcome the technical problem, an orthogonal decomposition least square algorithm is adopted for u_WAnd u_ICalculating the optimal adjustment amount of (c):

wherein,

W = [\begin{matrix} w_{11} & w_{12} \\ w_{21} & w_{22} \\ . & . \\ . & . \\ . & . \\ w_{201} & w_{202} \end{matrix}]

and is provided with

A = [\begin{matrix} 1 & a \\ 0 & 1 \end{matrix}] .

b) Calculating u_WAnd u_IThe optimal adjustment amount of (c):

5) output u_WAnd u_IThe optimal regulating quantity of the positive and negative bending rolls of the working roll of the rolling mill and the executing device of the positive bending roll of the intermediate roll of the rolling mill are obtained, and the plate shape feedforward control function in the control period is completed.

Under the condition that the plate shape is preset and the plate shape closed-loop control function is normally input, the plate shape feedforward control is not input and the input is input respectively according to the graph of fig. 4, 5 and 6, the plate shape feedforward control method (but not including the self-learning link) of the utility model and the outlet plate shape condition during the plate shape feedforward control method (including the self-learning link) of the utility model are realized. As can be seen from FIG. 4, the strip shape quality of the strip steel is seriously reduced due to the continuous change of the rolling force, so that the input of the strip shape feedforward control is the key for improving the strip shape quality. As can be seen from fig. 5, after the plate shape feedforward control algorithm is put into operation, the plate shape quality of the strip steel is obviously improved compared with that in fig. 4, but the plate shape quality in a section with large rolling force fluctuation is still not ideal, which is a result caused by inevitable certain deviation between the plate shape variation and the actual value due to the unit rolling force variation obtained by calculation of the conventional theoretical numerical value, and is also a bottleneck problem encountered when the plate shape feedforward control method is used for further improving the plate shape control quality. Fig. 6 shows the condition of the outlet plate shape when the plate shape feedforward control method (including the self-learning link) of the utility model is applied, so that the technical problem that the plate shape is deteriorated due to the fluctuation of the rolling force which often occurs in the rolling process of the strip steel can be well solved by the plate shape feedforward control algorithm with the control parameter self-learning function, and the guarantee is improved for producing the high-quality cold-rolled strip steel product with high added value.

The utility model firstly defines the action mechanism among the rolling force variation, the rolling mill outlet plate shape variation and the roller bending device adjustment by establishing a plate shape feedforward control model; and then, by defining a target optimization function of the model control variable, and utilizing an advanced orthogonal decomposition least square algorithm to calculate the optimal roll bending regulating quantity of the working roll and the intermediate roll of the rolling mill on line. Through the mutual matching of all the sub-modules of the system, a plate-shaped feedforward control system which can effectively overcome the frequent fluctuation of the rolling force is optimized and integrated. Particularly, in order to improve the precision of key control parameters in the control system, the utility model utilizes the on-line collected field data of the rolling process to carry out the on-line self-learning of the plate shape distribution in the width direction of the strip steel caused by the change of the rolling force, so that the control parameters are continuously and effectively corrected on line; meanwhile, the regulation coefficient of the rolling mill plate shape regulation and control device for the plate shape is adopted in the system control model to replace the regulation and control coefficient of the roll bending roll for the rolling force distribution of the on-load roll gap in the traditional model, so that the seamless connection between a plate shape feedforward control system and a closed-loop feedback control system is realized; the advantages provide powerful guarantee for realizing high-precision plate shape feedforward control of the cold-rolled strip steel.

The above embodiments are only used to illustrate the computing ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. For example: the bending direction of the intermediate roll is not limited to the positive bending roll in the preferred embodiment, and the positive and negative bending roll modes of the intermediate roll can be selected in different processes. Therefore, all the equivalent changes or modifications made according to the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. A cold-rolled steel strip shape feedforward control system is characterized by comprising:

2. A cold rolled steel strip shape feedforward control system as claimed in claim 1, further comprising:

3. A cold rolled steel strip shape feedforward control system as claimed in claim 2, further comprising:

4. A cold rolled steel strip shape feedforward control system as claimed in claim 3, further comprising:

and the storage module is respectively connected with the rolling force variation calculation module, the control parameter correction module, the regulating quantity calculation module and the data acquisition module and is used for storing data and parameters.