CN113600621A - Strip casting and rolling short-process strip steel thickness control method - Google Patents
Strip casting and rolling short-process strip steel thickness control method Download PDFInfo
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- CN113600621A CN113600621A CN202110818920.4A CN202110818920A CN113600621A CN 113600621 A CN113600621 A CN 113600621A CN 202110818920 A CN202110818920 A CN 202110818920A CN 113600621 A CN113600621 A CN 113600621A
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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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/165—Control of thickness, width, diameter or other transverse dimensions responsive mainly to the measured thickness of the product
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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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
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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
- B21B37/58—Roll-force control; Roll-gap control
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Abstract
The invention relates to a strip casting and rolling short-process strip steel thickness control method, and belongs to the technical field of strip casting and rolling short processes. The technical scheme of the invention is as follows: measuring the difference value between the actual thickness of the cast strip and a set value through a thickness gauge at an inlet of the rolling mill, applying a mathematical model for processing, and giving the processed value to a pressing system of the rolling mill to eliminate the thickness difference of the incoming material; meanwhile, the thickness value of the steel strip is measured by a thickness gauge at the outlet of the rolling mill, the difference value between the thickness value and a set value is fed back to an AGC system of the rolling mill, and the thickness precision of the product is ensured by combining feed-forward AGC control and monitoring AGC control. The invention has the beneficial effects that: the time lag is overcome, the system responsiveness is accelerated, the stable operation of the rolling mill is ensured, the thickness of the strip steel is controlled to be within the allowable tolerance range, and the product percent of pass is improved.
Description
Technical Field
The invention relates to a strip casting and rolling short-process strip steel thickness control method, and belongs to the technical field of strip casting and rolling short processes.
Background
The strip casting and rolling short-flow technology is a new process and a new technology which have short flow, low energy consumption, investment saving and environmental protection. The method has the advantages of short flow, small occupied area, low energy consumption, low emission and obvious energy-saving and environment-friendly effects.
The strip casting and rolling short-flow production line comprises a double-roller casting and rolling machine, a four-roller rolling machine (an inlet thickness gauge and an outlet thickness gauge), a set of ultra-fast cooling device, a flying shear, two recoiling machines and the like. The double-roller casting and rolling technology is a process of directly injecting liquid molten steel into a molten pool formed by two casting rollers and side sealing plates and rolling thin strip steel with the thickness of 1-6mm along with the rotation of the casting rollers. The molten steel forms a thin cast strip after passing through a double-roller casting machine, the thin cast strip enters a four-roller rolling machine for rolling through a conveying roller way and an inlet thickness gauge, a finished product of the strip steel after final rolling is cooled through an ultra-fast cooling device, the strip steel is sheared and split by flying shears, and the split strip steel enters a coiling machine for coiling to form a hair straightening coil.
The twin-roll casting-rolling technology for thin strip features that the liquid metal is solidified while being subjected to pressure working and plastic deformation, and the whole process from liquid metal to solid thin strip is completed in very short time. In addition, in the twin roll casting of thin strip, since the strip moves with the casting rolls and the solidified shells are kept in contact with the casting rolls until the solidified shells on both sides are combined together in the vicinity of the minimum of the roll gap, there is no problem of relative movement or vibration necessary to overcome friction between the solidified shells and the mold in the conventional casting process, and a mold flux is not required, and the cooling rate of molten steel is several orders of magnitude higher than that in slab casting. Compared with the traditional plate strip production method, the method can completely omit the heating process of the plate blank, thereby saving a large amount of energy and greatly improving the production efficiency.
The thickness precision of the strip steel is one of key performance indexes for inspecting the product quality, in the thickness control strategy of the traditional hot continuous rolling finishing mill, feedforward AGC control is usually adopted, the feedforward AGC control is open loop control, the temperature of one piece of steel is not uniform in actual rolling, the hardness of the strip steel in a corresponding area is also different, and the deviation between the calculated thickness of the strip steel and the actual thickness is realized.
Disclosure of Invention
The invention aims to provide a strip casting and rolling short-flow strip steel thickness control method, which utilizes two thickness gauges at the inlet and the outlet of a rolling mill and adopts the combination of feedforward and monitoring AGC control to ensure the thickness precision of strip steel; by adopting a software programming method and executing a computer program, the thickness control effect of the cast-rolling strip steel is improved, and the thickness precision of a product is improved; the method overcomes the time lag, accelerates the system responsiveness, ensures the stable operation of the rolling mill, controls the thickness of the strip steel to the allowable tolerance range, improves the qualification rate of products, and effectively solves the problems in the background technology.
The technical scheme of the invention is as follows: a method for controlling the thickness of strip steel in a short process of strip casting and rolling comprises the following steps:
(1) the feed-forward AGC control divides the distance between the thickness gauge and the rolling mill into N equal parts according to the thickness of the cast strip measured by the rolling mill inlet thickness gauge, the speed of the cast strip, the distance between the inlet thickness gauge and the rolling mill and the control period, and each section of strip steel is used as a tracking section;
(2) setting a register unit in a memory corresponding to each tracking segment to form a FIFO queue containing N register units; storing the thickness of the cast strip detected by the inlet thickness gauge into a register unit of a corresponding tracking section in an FIFO queue, wherein the data of each register unit in the FIFO queue synchronously shifts along with the rolling speed of the cast strip;
(3) according to the rolling actual value of the rolling mill, calculating the plasticity coefficient of the strip steel when passing through the rolling mill in real time by combining the cast strip thickness data shifted to the register unit corresponding to the inlet of the rolling mill, and correcting;
(4) determining the roll gap regulating quantity of the rolling mill according to the plasticity coefficient obtained in the step (3) and controlling the thickness of the strip steel;
(5) monitoring AGC control, measuring the actual thickness of the strip steel through a thickness gauge arranged at the outlet of the rolling mill, and further performing feedback control on the thickness of the strip steel by adjusting the roll gap of the rolling mill;
(6) the feed forward AGC control is combined with the monitor AGC control to reduce the control increment from oscillation.
In the step (1), the distance of N equal parts is as follows
Wherein L is the distance from the entrance thickness gauge to the rolling mill, T is the running period of the rolling control program, and VminThe minimum rolling speed of the strip steel rolling process.
In the step (2), the shift step is determined by the following formula:
wherein s is the shift step length, i.e. the number of register units crossed by the data stored in the FIFO queue during each shift, V is the actual speed of the current cast strip rollingminThe minimum rolling speed of the cast strip rolling process.
In the step (3), the plasticity number is calculated by the following formula
Wherein Q isPCalculated for the plasticity factor, P is the measured value of the rolling force of the stand, H is the inlet cast strip thickness, H is the outlet thickness of the rolling mill, KQFor correcting the coefficient, for compensating for Q caused by field data acquisition errorsPA calculated deviation of the value;
the above plasticity number is corrected according to the following formula:
Q＝KPQP+KSQS
wherein Q is the corrected plastic coefficient of the strip steel, and QPFor the calculated plasticity number, QSSet value for plasticity number, KPCalculating the weight ratio of the values for the plasticity number, KSIs a weight ratio of a plasticity coefficient set value and satisfies KP+KS＝1。
In the step (4), the thickness of the strip steel is controlled, namely the actual thickness of the cast strip is reduced by the set thickness delta H, and the roll gap adjustment quantity of the rolling mill is determined by the following formula
Wherein, Delta SFFeeding forward AGC roll gap regulating value for rolling mill, Q is plastic coefficient of cast strip, CPFor mill stiffness, Δ H is the cast strip incoming thickness difference.
In the step (5), the feedforward AGC control and the monitor AGC control are combined and calculated by the following formula
ΔS＝KFΔSF+KMΔSM
Wherein, Delta S is the roll gap adjusting value of the rolling mill, Delta SFRoll gap adjustment, Δ S, calculated for feed forward AGCMFor monitoring the roll gap adjustment value, K, calculated by AGCFIs the weight proportion of the feed-forward AGC roll gap, KMTo monitor the weight ratio of the AGC roll gap.
The invention has the beneficial effects that: the thickness precision of the strip steel is ensured by utilizing two thickness gauges at the inlet and the outlet of the rolling mill and adopting the combination of feedforward and monitoring AGC control; by adopting a software programming method and executing a computer program, the thickness control effect of the cast-rolling strip steel is improved, and the thickness precision of a product is improved; the time lag is overcome, the system responsiveness is accelerated, the stable operation of the rolling mill is ensured, the thickness of the strip steel is controlled to be within the allowable tolerance range, and the product percent of pass is improved.
Drawings
FIG. 1 is a schematic illustration of the mill thickness control of the present invention;
in the figure: the automatic control device comprises a rolling mill housing 1, an AGC hydraulic cylinder 2, an upper supporting roller 3, an upper working roller 4, a lower working roller 5, a lower supporting roller 6, a step pad 7, an inlet thickness gauge 8, an outlet thickness gauge 9, an AGC controller 10, a feed-forward AGC control 11, a monitoring AGC control 12 and a rolling direction 13.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments, and it is obvious that the described embodiments are a small part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
A method for controlling the thickness of strip steel in a short process of strip casting and rolling comprises the following steps:
(1) the feed-forward AGC control divides the distance between the thickness gauge and the rolling mill into N equal parts according to the thickness of the cast strip measured by the rolling mill inlet thickness gauge, the speed of the cast strip, the distance between the inlet thickness gauge and the rolling mill and the control period, and each section of strip steel is used as a tracking section;
(2) setting a register unit in a memory corresponding to each tracking segment to form a FIFO queue containing N register units; storing the thickness of the cast strip detected by the inlet thickness gauge into a register unit of a corresponding tracking section in an FIFO queue, wherein the data of each register unit in the FIFO queue synchronously shifts along with the rolling speed of the cast strip;
(3) according to the rolling actual value of the rolling mill, calculating the plasticity coefficient of the strip steel when passing through the rolling mill in real time by combining the cast strip thickness data shifted to the register unit corresponding to the inlet of the rolling mill, and correcting;
(4) determining the roll gap regulating quantity of the rolling mill according to the plasticity coefficient obtained in the step (3) and controlling the thickness of the strip steel;
(5) monitoring AGC control, measuring the actual thickness of the strip steel through a thickness gauge arranged at the outlet of the rolling mill, and further performing feedback control on the thickness of the strip steel by adjusting the roll gap of the rolling mill;
(6) the feed forward AGC control is combined with the monitor AGC control to reduce the control increment from oscillation.
In the step (1), the distance of N equal parts is as follows
Wherein L is the distance from the entrance thickness gauge to the rolling mill, T is the running period of the rolling control program, and VminThe minimum rolling speed of the strip steel rolling process.
In the step (2), the shift step is determined by the following formula:
wherein s is the shift step length, i.e. the number of register units crossed by the data stored in the FIFO queue during each shift, V is the actual speed of the current cast strip rollingminThe minimum rolling speed of the cast strip rolling process.
In the step (3), the plasticity number is calculated by the following formula
Wherein Q isPCalculated for the plasticity factor, P is the measured value of the rolling force of the stand, H is the inlet cast strip thickness, H is the outlet thickness of the rolling mill, KQFor correcting the coefficient, for compensating for Q caused by field data acquisition errorsPA calculated deviation of the value;
the above plasticity number is corrected according to the following formula:
Q＝KPQP+KSQS
wherein Q is the corrected plastic coefficient of the strip steel, and QPFor the calculated plasticity number, QSSet value for plasticity number, KPCalculating weights for plasticity factorRatio, KSIs a weight ratio of a plasticity coefficient set value and satisfies KP+KS＝1。
In the step (4), the thickness of the strip steel is controlled, namely the actual thickness of the cast strip is reduced by the set thickness delta H, and the roll gap adjustment quantity of the rolling mill is determined by the following formula
Wherein, Delta SFFeeding forward AGC roll gap regulating value for rolling mill, Q is plastic coefficient of cast strip, CPFor mill stiffness, Δ H is the cast strip incoming thickness difference.
In the step (5), the feedforward AGC control and the monitor AGC control are combined and calculated by the following formula
ΔS＝KFΔSF+KMΔSM
Wherein, Delta S is the roll gap adjusting value of the rolling mill, Delta SFRoll gap adjustment, Δ S, calculated for feed forward AGCMFor monitoring the roll gap adjustment value, K, calculated by AGCFIs the weight proportion of the feed-forward AGC roll gap, KMTo monitor the weight ratio of the AGC roll gap.
The thickness precision of the strip steel is one of key performance indexes for inspecting the product quality, and in order to obtain the optimal thickness control precision, the method adopts an intelligent integrated comprehensive AGC control strategy. The comprehensive AGC control strategy comprises the combination of feedforward AGC control and monitoring AGC, and the stability of production and the qualification rate of products are ensured. The automatic thickness control (AGC) model is characterized in that a thickness gauge or other sensors are used for continuously and directly measuring or indirectly calculating the rolled thickness of strip steel, the deviation between an actually measured value or a calculated value and a set value is input into an automatic control device, the control device obtains roll gap adjustment quantity and rolling mill speed adjustment quantity through logic judgment and model calculation and sends the roll gap adjustment quantity and the rolling mill speed adjustment quantity to a pressing positioning system and a rolling mill speed adjusting system, and the outlet thickness of the strip steel is quickly controlled to an allowable tolerance range and is kept in stable rolling through adjusting the roll gap and the rolling mill speed.
In the traditional hot continuous rolling finishing mill thickness control strategy, the feedforward AGC control is to calculate the thickness of the outlet strip steel by utilizing the rolling force and the roll gap of the previous frame, and use the difference value between the thickness and the strip steel set value for the feedforward control of the next frame of rolling mill; the monitoring AGC control is to feed back and control the roll gap of the rolling mill according to the real thickness difference of the strip steel obtained by the thickness gauge at the outlet of the rolling mill so as to correct the thickness of the strip steel, and the feedback control of the thickness difference of the strip steel can be realized.
The invention measures the difference between the actual thickness and the set value of the cast strip through the thickness gauge at the entrance of the rolling mill, applies mathematical model processing, and gives the processed value to the pressing system of the rolling mill to eliminate the thickness difference of the incoming material, thereby overcoming the time lag and accelerating the responsiveness of the system; and simultaneously, the thickness value of the steel strip is measured by a thickness gauge at the outlet of the rolling mill, and the difference value between the thickness value and a set value is fed back to an AGC system of the rolling mill, so that the thickness precision of the product can be ensured. The thickness control method of the cast-rolling short-flow band steel adopts a software programming method, and improves the thickness control effect of the cast-rolling band steel and the thickness precision of products by executing a computer program.
In the practical application of the method, the material is,
1. in the invention, the feedforward AGC control is that the distance between a thickness gauge and a rolling mill is divided into N equal parts according to the thickness of a cast strip measured by a rolling mill inlet thickness gauge, the speed of the cast strip, the distance between the inlet thickness gauge and the rolling mill and a control period, and each section of strip steel is used as a tracking section:
wherein L is the distance from the entrance thickness gauge to the rolling mill, T is the running period of the rolling control program, and VminThe minimum rolling speed of the strip steel rolling process.
2. Setting a register unit in a memory corresponding to each tracking segment to form a FIFO queue containing N register units; the thickness of the cast strip detected by the inlet thickness gauge is stored in the register units of the corresponding tracking sections in the FIFO queue, the data of each register unit in the FIFO queue synchronously shifts along with the rolling speed of the cast strip, and the shifting step length is determined by the following formula:
wherein s is the shift step length, i.e. the number of register units crossed by the data stored in the FIFO queue during each shift, V is the actual speed of the current cast strip rollingminThe minimum rolling speed of the cast strip rolling process.
3. According to the rolling actual value of the rolling mill, the plastic coefficient of the strip steel when passing through the rolling mill is calculated in real time by combining the thickness data of the cast strip shifted to the register unit corresponding to the inlet of the rolling mill
Wherein Q isPCalculated for the plasticity factor, P is the measured value of the rolling force of the stand, H is the inlet cast strip thickness, H is the outlet thickness of the rolling mill, KQFor correcting the coefficient, for compensating for Q caused by field data acquisition errorsPCalculated deviation of the values.
4. The above plasticity number is also corrected according to the following formula:
Q＝KPQP+KSQS (4)
wherein Q is the corrected plastic coefficient of the strip steel, and QPFor the calculated plasticity number, QSSet value for plasticity number, KPCalculating the weight ratio of the values for the plasticity number, KSIs a weight ratio of a plasticity coefficient set value and satisfies KP+KS＝1。
5. Determining the roll gap adjustment amount of the rolling mill according to the obtained plasticity coefficient, and performing strip steel thickness control, namely determining roll gap deviation by the following formula by subtracting the set thickness delta H from the actual thickness of the cast strip:
wherein, Delta SFFeeding forward AGC roll gap regulating value for rolling mill, Q is plastic coefficient of cast strip, CPFor mill stiffness, Δ H is the cast strip incoming thickness difference.
6. The actual thickness of the strip steel is measured by a thickness gauge arranged at the outlet of the rolling mill, and then the thickness of the strip steel is subjected to feedback control by adjusting the roll gap of the rolling mill, wherein the thickness control method is called monitoring AGC
Wherein, Delta SMThe AGC roll gap adjustment value is monitored for the rolling mill, Q is the plastic coefficient of the cast strip, CPThe rigidity of the rolling mill is shown, and delta h is the thickness difference of the rolled strip steel.
7. The monitoring AGC control is that a rolling mill outlet thickness gauge measures the difference value between the actual thickness of the strip steel and the target thickness of a product, but the lag is too large, so that not only the response time of a screw-down mechanism exists, but also the time is needed for a rolled piece to pass from a rolling mill to the thickness gauge, and therefore, the control increment must be reduced to avoid oscillation. Therefore, the feedforward AGC control and the monitoring AGC control are combined;
ΔS＝KFΔSF+KMΔSM (7)
wherein, Delta S is the roll gap adjusting value of the rolling mill, Delta SFRoll gap adjustment, Δ S, calculated for feed forward AGCMFor monitoring the roll gap adjustment value, K, calculated by AGCFIs the weight proportion of the feed-forward AGC roll gap, KMTo monitor the weight ratio of the AGC roll gap.
The invention combines the feedforward AGC control and the monitoring AGC control through the thickness gauge arranged at the inlet and the outlet of the rolling mill, not only overcomes the defects of the feedforward AGC control and the feedback AGC control in the prior art, but also well combines the feedforward AGC control and the feedback AGC control to improve the thickness precision of strip steel products.
Claims (6)
1. A method for controlling the thickness of strip steel in a short process of strip casting and rolling is characterized by comprising the following steps:
(1) the feed-forward AGC control divides the distance between the thickness gauge and the rolling mill into N equal parts according to the thickness of the cast strip measured by the rolling mill inlet thickness gauge, the speed of the cast strip, the distance between the inlet thickness gauge and the rolling mill and the control period, and each section of strip steel is used as a tracking section;
(2) setting a register unit in a memory corresponding to each tracking segment to form a FIFO queue containing N register units; storing the thickness of the cast strip detected by the inlet thickness gauge into a register unit of a corresponding tracking section in an FIFO queue, wherein the data of each register unit in the FIFO queue synchronously shifts along with the rolling speed of the cast strip;
(3) according to the rolling actual value of the rolling mill, calculating the plasticity coefficient of the strip steel when passing through the rolling mill in real time by combining the cast strip thickness data shifted to the register unit corresponding to the inlet of the rolling mill, and correcting;
(4) determining the roll gap regulating quantity of the rolling mill according to the plasticity coefficient obtained in the step (3) and controlling the thickness of the strip steel;
(5) monitoring AGC control, measuring the actual thickness of the strip steel through a thickness gauge arranged at the outlet of the rolling mill, and further performing feedback control on the thickness of the strip steel by adjusting the roll gap of the rolling mill;
(6) the feed forward AGC control is combined with the monitor AGC control to reduce the control increment from oscillation.
2. The method for controlling the thickness of the strip steel in the short-process strip casting and rolling process according to claim 1, wherein the method comprises the following steps: in the step (1), the distance of N equal parts is as follows
Wherein L is the distance from the entrance thickness gauge to the rolling mill, T is the running period of the rolling control program, and VminThe minimum rolling speed of the strip steel rolling process.
3. The method for controlling the thickness of the strip steel in the short-process strip casting and rolling process according to claim 1, wherein the method comprises the following steps: in the step (2), the shift step is determined by the following formula:
wherein s is the shift step length, i.e. the number of register units crossed by the data stored in the FIFO queue during each shift, V is the actual speed of the current cast strip rollingminThe minimum rolling speed of the cast strip rolling process.
4. The method for controlling the thickness of the strip steel in the short-process strip casting and rolling process according to claim 1, wherein the method comprises the following steps: in the step (3), the plasticity number is calculated by the following formula
Wherein Q isPCalculated for the plasticity factor, P is the measured value of the rolling force of the stand, H is the inlet cast strip thickness, H is the outlet thickness of the rolling mill, KQFor correcting the coefficient, for compensating for Q caused by field data acquisition errorsPA calculated deviation of the value;
the above plasticity number is corrected according to the following formula:
Q＝KPQP+KSQS
wherein Q is the corrected plastic coefficient of the strip steel, and QPFor the calculated plasticity number, QSSet value for plasticity number, KPCalculating the weight ratio of the values for the plasticity number, KSIs a weight ratio of a plasticity coefficient set value and satisfies KP+KS＝1。
5. The method for controlling the thickness of the strip steel in the short-process strip casting and rolling process according to claim 1, wherein the method comprises the following steps: in the step (4), the thickness of the strip steel is controlled, namely the actual thickness of the cast strip is reduced by the set thickness delta H, and the roll gap adjustment quantity of the rolling mill is determined by the following formula
Wherein, Delta SFFeeding forward AGC roll gap regulating value for rolling mill, Q is plastic coefficient of cast strip, CPFor mill stiffness, Δ H is the cast strip incoming thickness difference.
6. The method for controlling the thickness of the strip steel in the short-process strip casting and rolling process according to claim 1, wherein the method comprises the following steps: in the step (5), the feedforward AGC control and the monitor AGC control are combined and calculated by the following formula
ΔS＝KFΔSF+KMΔSM
Wherein, Delta S is the roll gap adjusting value of the rolling mill, Delta SFRoll gap adjustment, Δ S, calculated for feed forward AGCMFor monitoring the roll gap adjustment value, K, calculated by AGCFIs the weight proportion of the feed-forward AGC roll gap, KMTo monitor the weight ratio of the AGC roll gap.
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Application publication date: 20211105 |