CN115488156A - Vibration detection and protection method and system for hydraulic pressing position control system of cold rolling mill - Google Patents
Vibration detection and protection method and system for hydraulic pressing position control system of cold rolling mill Download PDFInfo
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- CN115488156A CN115488156A CN202110678160.1A CN202110678160A CN115488156A CN 115488156 A CN115488156 A CN 115488156A CN 202110678160 A CN202110678160 A CN 202110678160A CN 115488156 A CN115488156 A CN 115488156A
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- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 238000003825 pressing Methods 0.000 title claims abstract description 27
- 238000005097 cold rolling Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000010355 oscillation Effects 0.000 claims abstract description 110
- 238000001914 filtration Methods 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 8
- 230000003111 delayed effect Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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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
- B21B37/007—Control for preventing or reducing vibration, chatter or chatter marks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B33/00—Safety devices not otherwise provided for; Breaker blocks; Devices for freeing jammed rolls for handling cobbles; Overload safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/008—Monitoring or detecting vibration, chatter or chatter marks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention provides a vibration detection and protection method and a system for a hydraulic pressing position control system of a cold rolling mill, which comprises the steps of firstly carrying out position deviation depth filtering to obtain a position deviation filtering value; calculating a difference value between the actual position deviation value and the position deviation filtering value to obtain a vibration detection variable V; setting an amplitude judgment value A, an amplitude judgment time window W, an oscillation judgment number N and a non-oscillation judgment duration T; judging the magnitude of an oscillation detection variable V and an amplitude judgment value A, setting a positive oscillation flag F when V is greater than A, and resetting the positive oscillation flag F when V is less than-A; generating a positive vibration mark F pulse; a vibration judgment step: counting the pulse number of the positive vibration mark F in the W time window, judging oscillation when N is exceeded, and judging no oscillation when the positive vibration mark lasts for T or the negative vibration mark lasts for T. By adopting the invention, the vibration of the position control system can be effectively inhibited, unmanned maintenance is realized, the speed of the unit is greatly improved, and the vibration of the position of the oil cylinder caused by mechanical resonance is avoided.
Description
Technical Field
The invention relates to the field of cold rolling control, in particular to a shock detection and protection method and system for a hydraulic pressing position control system of a cold rolling mill.
Background
The cold rolling mill is used for rolling and processing hot-rolled strip steel at normal temperature, fig. 1 is a structural diagram of the cold rolling mill, an upper supporting roller, a lower supporting roller, an upper intermediate roller, a lower working roller and an upper working roller form a roller system of the cold rolling mill together, the strip steel is rolled between the upper working roller and the lower working roller, a pressing cylinder drives the upper roller system (comprising the upper supporting roller, the upper intermediate roller and the upper working roller) to generate rolling force to roll the strip steel, the position of a piston rod of the pressing cylinder (hereinafter referred to as a pressing position) is controlled to be a core link of a pressing control system, the pressing position is measured by using a high-precision position sensor (the measurement precision is below 0.5 um), the hydraulic position is zero when the hydraulic piston rod is at an upper limit position, the hydraulic position is gradually increased along with the pressing of the hydraulic piston rod, the pressing actual pressing position is violently changed along with a given position under the action of automatic thickness control in the rolling process, the hydraulic pressing position control system is required to have higher response sensitivity, and the core control link of the hydraulic pressing position control system is proportional control, and the proportional control gain becomes a key control parameter of the hydraulic control system. During the rolling process, the transmission system drives the working rolls to rotate at a given speed, and the working roll manufacturing speed can be interfered according to the actual condition of the hydraulic position control system.
Fig. 2 shows a typical hydraulic depression position control system, in which a position deviation is subjected to a proportional link to generate a voltage adjustment quantity, an amplification link converts the voltage adjustment quantity into a servo valve current adjustment quantity, a servo valve generates a hydraulic flow adjustment quantity under the action of the current adjustment quantity, and the hydraulic flow adjustment quantity drives a hydraulic cylinder to generate a change in the position of a cylinder. The actual position of the oil cylinder reflects the position change of the piston rod based on the unloading position, the AGC control quantity and the manual oil cylinder position are given to form the total oil cylinder given position, and the closed-loop control system tries to make the actual position of the oil cylinder follow the change of the given position of the oil cylinder. The difference between the actual position of the oil cylinder and the given position of the oil cylinder forms the position deviation of the oil cylinder, and the position deviation of the oil cylinder is vibrated due to various reasons in practice, so that the smooth production is seriously influenced. When the actual position of the oil cylinder vibrates, a natural method is to manually reduce the control gain properly, but the adverse effect brought by the method is to increase the control static difference, increase the maintenance cost and be not beneficial to improving the AGC control precision. The invention provides an automatic detection method for the oscillation of the actual position of an oil cylinder, wherein the gain is automatically reduced after the oscillation is detected, the gain is automatically recovered after the oscillation is eliminated, and if the oscillation of the position of the oil cylinder is caused by mechanical resonance, the rolling speed is properly reduced when the oscillation is detected again after 3 seconds until the oscillation disappears.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a vibration detection and protection method and system for a hydraulic pressing position control system of a cold rolling mill.
The invention provides a vibration detection and protection method for a hydraulic pressing position control system of a cold rolling mill, which comprises the following steps:
and a position deviation depth filtering step: carrying out position deviation depth filtering to obtain a position deviation filtering value;
a difference value calculation step: calculating a difference value between the actual position deviation value and the position deviation filtering value to obtain a vibration detection variable V;
parameter setting step: setting an amplitude judgment value A, an amplitude judgment time window W, an oscillation judgment number N and a non-oscillation judgment duration T;
a judging step: judging the magnitudes of the oscillation detection variable V and the amplitude judgment value A, setting a positive oscillation flag F when V is greater than A, and resetting the positive oscillation flag F when V < -A;
a pulse generation step: generating a positive vibration mark F pulse;
an oscillation judging step: counting the pulse number of the positive vibration mark F in the W time window, judging oscillation when the pulse number exceeds N, and judging no oscillation when the positive vibration mark lasts for T or the negative vibration mark lasts for T.
Preferably, the method further comprises the step of gain intervention: when oscillation is detected, active intervention is carried out on the control gain, and the gain is reduced to a preset value of a preset proportion within a set time; and when the oscillation is not detected, the gain is restored to the set value within the set time.
Preferably, the set time is 1500ms, and the preset proportion is 30%.
Preferably, the method further comprises the oscillation detection step of: after the speed is accelerated to the set speed, setting an oscillation mark after oscillation is detected for the first time, and generating a speed reduction mark and resetting the oscillation mark when the oscillation is detected again after the oscillation mark is delayed for 3 s.
Preferably, when the deceleration flag is generated, the difference between the speed of the unit and 50mpm is calculated and locked to obtain the deceleration target value.
Preferably, when the speed of the unit decreases to the deceleration target value, the deceleration flag is reset, and the hold command directly resets the deceleration flag.
Preferably, the amplitude judgment value is calculated from the rolling speed by an FG function.
The invention provides a shock detection and protection system of a hydraulic pressing position control system of a cold rolling mill, which comprises the following modules:
the position deviation depth filtering module: carrying out position deviation depth filtering to obtain a position deviation filtering value;
a difference value calculation module: calculating a difference value between the actual position deviation value and the position deviation filtering value to obtain a vibration detection variable V;
a parameter setting module: setting an amplitude judgment value A, an amplitude judgment time window W, an oscillation judgment number N and a non-oscillation judgment duration T;
a judging module: judging the magnitude of an oscillation detection variable V and an amplitude judgment value A, setting a positive oscillation flag F when V is greater than A, and resetting the positive oscillation flag F when V is less than-A;
a pulse generation module: generating a positive vibration mark F pulse;
a vibration judgment module: counting the pulse number of the positive vibration mark F in the W time window, judging oscillation when the pulse number exceeds N, and judging no oscillation when the positive vibration mark lasts for T or the negative vibration mark lasts for T.
Preferably, the method further comprises the step of: when oscillation is detected, active intervention is carried out on the control gain, and the gain is reduced to a preset value of a preset proportion within a set time; and when the oscillation is not detected, the gain is restored to the set value within the set time.
Preferably, the system further comprises an oscillation detection module: after the speed is accelerated to the set speed, setting an oscillation mark after oscillation is detected for the first time, and generating a speed reduction mark and resetting the oscillation mark when the oscillation is detected again after the oscillation mark is delayed for 3 s.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention effectively inhibits the oscillation of the position control system, realizes unmanned maintenance and greatly improves the speed of the unit.
2. According to the invention, through vibration discrimination and protection, the vibration of the position of the oil cylinder caused by mechanical resonance is avoided.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural view of a cold rolling mill.
FIG. 2 is a schematic diagram of a hydraulic depression position control system.
Fig. 3 is a schematic diagram of oscillation of the actual position of the cylinder.
FIG. 4 is a flow chart of oscillation detection and non-oscillation detection.
Fig. 5 is a diagram showing exemplary parameter settings for the FG function amplitude judgment value.
Fig. 6 is a diagram illustrating the actual effects of oscillation detection and protection.
FIG. 7 is a schematic diagram of the cylinder position oscillation caused by mechanical resonance.
Fig. 8 is a flow chart of mechanical resonance and cylinder position oscillation detection.
Fig. 9 is a graph showing the mechanical resonance and cylinder position oscillation detection and protection effects.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 9, the invention provides a vibration detection and protection method and system for a hydraulic pressing position control system of a cold rolling mill, which automatically reduces the gain after the vibration is detected, automatically recovers the gain after the vibration is eliminated, and if the vibration of the cylinder position is caused by mechanical resonance, the rolling speed is properly reduced when the vibration is detected again after 3 seconds until the vibration disappears.
The specific description is as follows: fig. 4 is a flow chart of oscillation detection and non-oscillation detection. During oscillation detection, position deviation deep filtering is firstly carried out to obtain a position deviation filtering value, the difference value between the actual position deviation and the filtering value is calculated to obtain an oscillation detection variable V, an amplitude judgment value A [ um ] is set, an amplitude judgment time window W [ ms ] is set, an oscillation judgment number N is set, and a non-oscillation judgment duration T [ s ] is set. And when V is greater than A, setting the positive vibration flag F, when V < -A, resetting the positive vibration flag F to generate positive vibration flag F pulses, counting the number of the positive vibration flag F pulses in a W time window, judging oscillation when N is exceeded, and judging no oscillation when the positive vibration flag lasts for T or the negative vibration flag lasts for T.
The amplitude judgment value is related to the rolling speed, and the larger the rolling speed, the larger the amplitude judgment value, and the amplitude judgment value is calculated from the rolling speed by the FG function, and FIG. 5 shows that typical parameters of the amplitude judgment value of the FG function are given, X represents the rolling speed [0.1mpm ], and Y represents the amplitude judgment value [ um ].
When oscillation is detected, active intervention must be performed on the control gain, the gain is reduced to a set value of 30% within 1500ms, and when no oscillation is detected, the gain is restored to the set value within 1500 ms. Fig. 6 is a vibration detection and protection actual effect curve, when detecting the vibration, the gain is automatically reduced, when detecting the non-vibration, the gain is automatically recovered, after the vibration occurs, the short-time vibration is followed by the elimination, and the effect of vibration protection is achieved.
Mechanical resonance conditions may occur with increasing rolling speed, see fig. 7. As can be seen from fig. 7, when the rolling speed reaches 1160mpm, mechanical resonance occurs, which results in cylinder position oscillation, and at this time, the cylinder position oscillation cannot be eliminated by reducing the gain, and can only be eliminated by appropriately reducing the unit speed, but this cannot be simply done, because doing so would reduce the production line capacity, and in fact, in the acceleration process, when the unit speed reaches 1160mpm, mechanical resonance occurs, which causes cylinder position oscillation, and then the acceleration continues, and the mechanical resonance and the cylinder position oscillation disappear immediately, but when the unit speed stays around 1160mpm, the mechanical resonance and the cylinder position oscillation are continuously triggered, and once such a serious condition is detected, the rolling speed must be appropriately reduced.
Fig. 8 shows a mechanical resonance and cylinder position oscillation detection flow chart, after the acceleration to 1000mpm, the oscillation flag is set after the first detection of oscillation, and after the oscillation flag is delayed for 3s, if the oscillation is detected again, the deceleration flag is generated, and the oscillation flag is reset at the same time. And when the deceleration mark is generated, calculating the difference between the speed of the unit and 50mpm and locking the difference to obtain a deceleration target value. When the speed of the unit is reduced to the target speed reduction value, the speed reduction is finished, the speed reduction mark is reset, and the speed reduction mark can be directly reset by a holding command.
Fig. 9 shows a graph of detection and protection effects of mechanical resonance and cylinder position oscillation, where a first deceleration is caused when oscillation is detected again after 3 seconds, a second deceleration is caused when oscillation is detected again after 3 seconds, and the mechanical resonance and cylinder position oscillation disappear after the second deceleration.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A vibration detection and protection method for a hydraulic pressing position control system of a cold rolling mill is characterized by comprising the following steps:
and a position deviation depth filtering step: carrying out position deviation depth filtering to obtain a position deviation filtering value;
and a difference value calculation step: calculating a difference value between the actual position deviation value and the position deviation filtering value to obtain a vibration detection variable V;
a parameter setting step: setting an amplitude judgment value A, an amplitude judgment time window W, an oscillation judgment number N and a non-oscillation judgment duration T;
a judging step: judging the magnitudes of the oscillation detection variable V and the amplitude judgment value A, setting a positive oscillation flag F when V is greater than A, and resetting the positive oscillation flag F when V < -A;
a pulse generation step: generating a positive vibration mark F pulse;
an oscillation judging step: counting the pulse number of the positive vibration mark F in the W time window, judging oscillation when the pulse number exceeds N, and judging no oscillation when the positive vibration mark lasts for T or the negative vibration mark lasts for T.
2. The shock detection and protection method of the hydraulic pressing position control system of the cold rolling mill according to claim 1, characterized by further comprising the step of gain intervention: when oscillation is detected, active intervention is carried out on the control gain, and the gain is reduced to a preset value of a preset proportion within a set time; and when no oscillation is detected, restoring the gain to the set value within the set time.
3. The oscillation detection and protection method for the hydraulic pressing position control system of the cold rolling mill according to claim 2, wherein the set time is 1500ms, and the preset proportion is 30%.
4. The shock detection and protection method of the hydraulic pressing position control system of the cold rolling mill according to claim 1, characterized by further comprising the shock detection step of: after the speed is accelerated to the set speed, setting an oscillation mark after oscillation is detected for the first time, and generating a speed reduction mark and resetting the oscillation mark when the oscillation is detected again after the oscillation mark is delayed for 3 s.
5. The oscillation detection and protection method of the hydraulic pressing position control system of the cold rolling mill according to claim 4, wherein when the deceleration mark is generated, the difference between the speed of the unit and 50mpm is calculated and locked to obtain a deceleration target value.
6. The shock detection and protection method for the hydraulic pressing position control system of the cold rolling mill according to claim 4, characterized in that when the speed of the unit is reduced to the target deceleration value, the deceleration flag is reset, and the command is kept to directly reset the deceleration flag.
7. The method for detecting and protecting the shock of the hydraulic pressing position control system of the cold rolling mill according to claim 1, wherein the amplitude judgment value is calculated from the rolling speed by an FG function.
8. The utility model provides a position control system vibrates and detects and protection system under cold rolling mill hydraulic pressure which characterized in that includes following module:
the position deviation depth filtering module: carrying out position deviation depth filtering to obtain a position deviation filtering value;
a difference value calculation module: calculating a difference value between the actual position deviation value and the position deviation filtering value to obtain a vibration detection variable V;
a parameter setting module: setting an amplitude judgment value A, an amplitude judgment time window W, an oscillation judgment number N and a non-oscillation judgment duration T;
a judgment module: judging the magnitudes of the oscillation detection variable V and the amplitude judgment value A, setting a positive oscillation flag F when V is greater than A, and resetting the positive oscillation flag F when V < -A;
a pulse generation module: generating a positive vibration mark F pulse;
a vibration judgment module: counting the pulse number of the positive vibration mark F in the W time window, judging oscillation when the pulse number exceeds N, and judging no oscillation when the positive vibration mark lasts for T or the negative vibration mark lasts for T.
9. The shock detection and protection system of the hydraulic pressing position control system of the cold rolling mill of claim 8, further comprising a gain intervention module: when oscillation is detected, active intervention is carried out on the control gain, and the gain is reduced to a preset value of a preset proportion within a set time; and when the oscillation is not detected, the gain is restored to the set value within the set time.
10. The hydraulic pressing position control system oscillation detecting and protecting system for the cold rolling mill according to claim 8, further comprising an oscillation detecting module: after the speed is accelerated to the set speed, setting an oscillation mark after oscillation is detected for the first time, and generating a speed reduction mark and resetting the oscillation mark when the oscillation is detected again after the oscillation mark is delayed for 3 s.
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