CN1887461A - Plate form expansion feeding back closed-loop control system and method for cold continuous rolling machine - Google Patents

Abstract

The plate form expansion feeding back closed-loop control system for cold continuous rolling machine includes a frame combination, a last stage frame, a plate form measuring device, a plate form target curve setting deice and a last stage frame closed-loop access node. It features that it has also plate form optimizing device, frame load distributor of the plate form optimizing device and front frame expanding closed-loop access node; that the plate form measuring device, the plate form target curve setting deice, the plate form optimizing device, frame load distributor, the last stage frame closed-loop access node and the last stage frame are connected successively to constitute the plate form feeding back closed control loop; and that in the plate form feeding back closed control loop, the frame load distributor is connected through the front frame expanding closed-loop access node to the front stage frame combination to constitute the plate form expanding feedback closed control loop combination.

Description

Cold continuous rolling plate form expansion feeding back closed-loop control system and method

Technical field

The present invention relates to a kind of cold rolling of strip steel device and cold rolling control method, specifically, is about a kind of cold continuous rolling plate form expansion feeding back closed-loop control system and to the expansion feedback closed loop control method of belt plate shape.

Background technology

At present, use the cold machine that connects that the band steel is rolled in the process, generally all adopt configuration as shown in Figure 1, have only final stage frame 7 to have the plate shape that the feedback closed loop control structure is come accommodation zone steel 9, CVC (Continuously Variable Crown continuous variable convex technology) for example, DSR (Dynamic ShapeRoll strong board shape roller), UC (the omnipotent convex rolling mill of Universal Crown), HC (High Crown high accuracy convex rolling mill) and VC (Variable Crown variable convex roll) etc., present nearly all in the world cold continuous rolling, a cage plate shape measurement mechanism can only be realized the closed-loop control to a frame bar none.Among Fig. 1, when belt steel rolling, a plate shape measurement device 1 is positioned at the rear of final stage frame 7, and plate shape measurement device 1 is measured the stress distribution of band steel 9 widths, obtains the belt plate shape actual curve σ=[σ that represents to stress with one group of band steel 9 width ₁σ ₂σ _n] ^TOne flatness object curve setting device 2, it provides belt plate shape aim curve σ, and obtains actual plate shape deviation with band steel actual curve σ pointwise comparison $\mathrm{\Δ}\widehat{\mathrm{\σ}=\mathrm{\σ}-\stackrel{\‾}{\mathrm{\σ}}},$ In order to eliminate deviation Roller declination, bending roller force and intermediate calender rolls play are arranged usually, represent with their variable quantity respectively: Δ T, Δ B and Δ S.The action of executing agency can represent with a n * 3 coefficient matrixes the influence of plate shape, promptly $\mathrm{\Δ}\widehat{\mathrm{\σ}}=\stackrel{\‾}{\mathrm{\σ}}-\mathrm{\σ}=\mathrm{\α\ΔU}=\mathrm{\α}{\left[\begin{array}{ccc}\mathrm{\ΔT}& \mathrm{\ΔB}& \mathrm{\ΔS}\end{array}\right]}^T,$ These coefficients are relevant with the thickness and the width of band steel; One final stage frame closed loop access node 5, it provides the adjusting control to final stage frame 7, promptly connect successively and form close loop control circuit, make final stage frame 7 have plate shape closed-loop control function by plate shape measurement device 1, flatness object curve setting device 2, final stage frame closed loop access node 5 and final stage frame 7.All the other frames then do not have this function.Theoretical analysis result and production reality have all confirmed, the uneven degree situation of strip steel at entry 9 directly has influence on the flatness of outlet, the band steel is depressed in the process through each frame at cold continuous rolling, the variation of band steel section from first frame to last stand should be by the constant principle of equal proportion convexity, rolling in " relay race " mode, it is zero almost to be impossible that the closed-loop control of depending merely on the last frame reaches deviation.From the angle of integral body, if the frame of front also can be controlled, brought into play due function, particularly last frame controls to a certain precision, and the flatness of finished strip is controlled better certainly so.Aborning, particularly under the rolling pattern of C mode, for the cold continuous rolling that is made of five frames, it is rolling to band steel 9, and the adjustment of the 4th frame is very obvious to the influence of the 5th frame exit plate shape.Now in order to improve the flatness of finished strip, if make each frame in the prime frame group 6 all as final stage frame 7, have closed loop controlling structure, certainly flatness can be controlled better, but a cage plate shape measurement mechanism 1 (plate shape measurement roller) adds that the required investment cost of corresponding system is near 1,000,000 dollars, words by five frames calculating, then to invest 4,000,000 dollars more, obviously improve the expense of equipment.

Summary of the invention

In sum, how reducing the investment cost of existing cold continuous rolling reached makes its each frame all have the closed-loop control function, be the technical problem that will solve required for the present invention, for this reason, the purpose of this invention is to provide a kind of cold continuous rolling plate form expansion feeding back closed-loop control system and method.

Technical scheme of the present invention is as follows:

According to a kind of cold continuous rolling plate form expansion feeding back closed-loop control system of the present invention, comprise the prime frame group and the final stage frame that are arranged in order; Be positioned at the plate shape measurement device at final stage frame rear and successively after connect the flatness object curve setting device and the final stage frame closed loop access node of this plate shape measurement device, be characterized in:

A. the plate shape that connects this flatness object curve after also having is successively optimized device, frame load distribution device and prime frame expansion closed loop access node group;

B. described plate shape measurement device, flatness object curve setting device, plate shape optimize device, frame load distribution device and final stage frame closed loop access node and the final stage frame connects and composes plate shape feedback closed loop control loop successively;

C. in the described plate shape feedback closed loop control loop, connect prime frame group and form plate shape expansion feedback closed loop control loop group through prime frame expansion closed loop access node group by the frame load distribution device again.

Further, described plate shape expansion feedback closed loop control loop group is to constitute a plate shape expansion feedback closed loop control loop by the prime frame that the prime frame expansion closed loop access node of this frame load distribution device in this prime frame expansion closed loop access node group connects in this prime frame group at least;

Described plate shape expansion feedback closed loop control loop group is to connect the plate shape expansion feedback closed loop control loop that the prime frame in end in this prime frame group constitutes by the prime frame expansion closed loop access node of this frame load distribution device in prime frame expansion closed loop access node group at least;

Particularly, described prime frame expansion closed loop access node group is one group of PID adjuster that connects corresponding frame in the prime frame group;

Selectively, described frame load distribution device, its regulated quantity Δ U that eliminates plate shape deviation are distributed to the executing agency of each corresponding frame of the executing agency of final stage frame and prime frame group by preset proportion:

Δ U _{The final stage frame}=β Δ U

Δ U _{Prime frame group}=(1-β) Δ U

Wherein: 0＜β＜1;

Described frame load distribution device is pressed final stage frame priority allocation principle to the regulated quantity Δ U that eliminates plate shape deviation, after the adjusting variable quantity of the executing agency of final stage frame reaches extreme value, more remaining regulated quantity is distributed to the executing agency of each corresponding frame of prime frame group;

More specifically, described frame executing agency is meant the mechanism of the variable quantity that produces control roller declination, bending roller force and intermediate calender rolls play;

According to a kind of cold continuous rolling plate shape expansion feedback closed loop control method of the present invention, its step comprises:

S1. go out stress distribution on the strip width direction by the plate shape measurement measurement device that is installed on final stage frame rear, obtain with one group of band steel actual plate shape curve σ=[σ that strip width direction stress is represented ₁σ ₂σ _n] ^T

S2. provide belt plate shape aim curve σ by the flatness object curve setting device, and relatively obtain actual plate shape deviation with belt plate shape actual curve σ pointwise $\mathrm{\Δ}\widehat{\mathrm{\σ}}=\stackrel{\‾}{\mathrm{\σ}}-\mathrm{\σ}=\mathrm{\α\ΔU}=\mathrm{\α}{\left[\begin{array}{ccc}\mathrm{\ΔT}& \mathrm{\ΔB}& \mathrm{\ΔS}\end{array}\right]}^T,$ Wherein factor alpha is relevant with the thickness and the width of band steel, and Δ T, Δ B and Δ S represent the variable quantity of roller declination, bending roller force and intermediate calender rolls play respectively; S3. optimizing device by plate shape provides one group of regulated quantity Δ U to make $\left|\right|\mathrm{\Δ}\widehat{\mathrm{\σ}}-\mathrm{\α\ΔU}\left|\right|$ Value is minimum;

S4. by the frame load distribution device regulated quantity Δ U is distributed to the executing agency of each corresponding frame of the executing agency of final stage frame and prime frame group;

S5. go to drive the final stage frame by final stage frame closed loop access node simultaneously and carry out elimination plate shape biased operation, form feedback closed loop control; With go to drive the corresponding frame of each of prime frame group executing agency by prime frame expansion closed loop access node group and go to carry out and eliminate plate shape biased operation, form the control of expansion feedback closed loop;

In described step S4, the frame load distribution device is eliminating plate shape bias adjustment amount Δ U distributes to each corresponding frame of the executing agency of final stage frame and prime frame group by preset proportion executing agency, or in mode by final stage frame priority allocation, after making the adjusting variable quantity of the executing agency of final stage frame reach extreme value, remaining regulated quantity is distributed to the executing agency of prime frame;

Described final stage frame and prime frame group executing agency are meant the mechanism of the variable quantity that produces control roller declination, bending roller force and intermediate calender rolls play.

Advantage of the present invention is: need not to change the existing hardware system and increase the equipment investment expense, just can will make the rack section of cold rolling unit or all realize closed-loop control, excite idle investment, improve the belt plate shape quality.

Description of drawings

Fig. 1 is conventional plate shape closed-loop control schematic diagram;

Fig. 2 is a unit frame plate shape expansion closed-loop control schematic diagram of the present invention;

Fig. 3 is a multimachine frame plate shape expansion closed-loop control schematic diagram of the present invention;

Fig. 4 is the belt plate shape curve synoptic diagram.

The specific embodiment

Providing preferred embodiment of the present invention according to Fig. 2～Fig. 4 below, and described in detail, enabling being easier to understand architectural feature of the present invention and functional characteristics, but is not to be used to limit the scope of the invention.

Now see also Fig. 2, Fig. 3 and Fig. 4 will be with the cold continuous rolling of the routine be made up of five frames as an example.

As shown in Figure 2, promptly after the 5th frame plate shape measurement device 1 (i.e. a cage plate shape measuring roller) is installed, is used for measuring the plate shape of actual band steel in final stage frame 7.Actual plate shape curve represents with one group of strip width direction stress, promptly

σ＝[σ ₁σ ₂…σ _n] ^T

Wherein, σ _iStress (as shown in Figure 4) for certain point on the strip width direction.Provide flatness object curve (by technology and product decision) by setting flatness object curve setting device 2, be designated as: σ.Deduct corresponding points on the actual plate shape setting each point on the plate shape curve, just can obtain actual plate shape deviation:

$\mathrm{\Δ}\widehat{\mathrm{\σ}}=\stackrel{\‾}{\mathrm{\σ}}-\mathrm{\σ}$

The means of elimination plate shape deviation have multiple, and commonly used has: roller declination, bending roller force and intermediate calender rolls play, represent with their variable quantity respectively: Δ T, Δ B and Δ S.The action of executing agency can be represented with a n * 3 coefficient matrixes the influence of plate shape:

Δσ＝αΔU＝α[ΔT?ΔB?ΔS] ^T (1)

These coefficients are relevant with the thickness and the width of band steel.

The purpose that plate shape is optimized device 3 is exactly with the incompatible elimination plate of the set of variations of various executing agencies shape deviation, promptly makes with regard to one group of regulated quantity Δ U $\left|\right|\mathrm{\Δ}\widehat{\mathrm{\σ}}-\mathrm{\α\ΔU}\left|\right|$ Value is minimum.Separate with least square method, then have:

ΔU＝R\C (2)

Wherein, C and R are orthogonal-triangle decomposition of matrix α:

$\left[\begin{array}{cc}C& R\end{array}\right]=\mathrm{qr}(\mathrm{\α},\mathrm{\Δ}\widehat{\mathrm{\α}})---\left(3\right)$

Frame load distribution device 4 is used for the regulated quantity Δ U that calculates is distributed to the 4th, the 5th frame, and two kinds of allocative decisions can be arranged:

A. proportionate allocation: promptly the regulated quantity of the 4th, the 5th frame becomes certain ratio (0＜β＜1)

ΔU ₄＝β·ΔU

(4)

ΔU ₅＝(1-β)·ΔU

B. final stage frame 7 priority allocation methods: promptly consider the adjusting of final stage frame 7 earlier,, again surplus is distributed to the 4th frame if the adjusting variable quantity of the executing agency of final stage frame 7 has reached extreme value.

Present embodiment is 1420mm five frame cold continuous rollings, and actual strip width is 1000mm, and the 4th frame exit thickness is 0.4mm, gets n=20, obtains according to actual roll forming that model coefficient is in (1) formula:

α＝

-2.0000 0.3100 0.3100

-1.8000 0.2600 0.1500

-1.6000 0.1600 0

-1.4000 0.0900 -0.1200

-1.2000 0 -0.2000

-1.0000 -0.0900 -0.2500

-0.8000 -0.1900 -0.2000

-0.6000 -0.2600 -0.1200

-0.3000 -0.2800 0

-0.1000 -0.3000 0.1500

0.1000 -0.3000 0.1500

0.3000 -0.2800 0

0.6000 -0.2600 -0.1200

0.8000 -0.1900 -0.2000

1.0000 -0.0900 -0.2500

1.2000 0 -0.2000

1.4000 0.0900 -0.1200

1.6000 0.1600 0

1.8000 0.2600 0.1500

2.0000 0.3100 0.3100

If flatness object curve is: σ=

-0.61，-0.264，-0.016，0.155，0.267，0.335，0.373，0.391，0.398，0.4，0.4，0.398，0.391，0.373，0.335，0.267，0.155，-0.016，-0.264，-0.61

Actual plate shape curve is: σ=

0.6，0，-0.2，-0.1，0.1，0.15，0.2，0.1，-0.1，-0.3，-0.18，-0.08，0，-0.12，-0.2，-0.32，-0.2，-0.1，0.1，0.3

Can calculate according to (2), (3) formula:

$\mathrm{\ΔU}=\left[\begin{array}{c}0.0254\\ -0.7184\\ -0.5498\end{array}\right]$

With proportionate allocation the 4th, the 5th frame is distributed, and gets β=0.3, then have according to (4) formula:

${\mathrm{\ΔU}}_4=\left[\begin{array}{c}0.00762\\ -0.21552\\ -0.16494\end{array}\right]{\mathrm{\ΔU}}_5=\left[\begin{array}{c}0.01778\\ -0.50228\\ -0.38486\end{array}\right]$

As shown in Figure 2, it is the example that constitutes unit frame plate shape expansion closed-loop control among the present invention.Wherein: plate shape measurement device 1, flatness object curve setting device 2, plate shape optimize device 3, frame load distribution device 4 and final stage frame closed loop access node and final stage frame 7 connects formation plate shape feedback closed loop control loop successively; And in described plate shape feedback closed loop control loop, connect the plate shape expansion feedback closed loop control loop that the prime frame in end in this prime frame group 8 constitutes by frame load distribution device 4 prime frame expansion closed loop access node in prime frame expansion closed loop access node group 6 again.

As an alternative, described unit frame plate shape expansion closed-loop control also can be by constituting a plate shape expansion feedback closed loop control loop with the corresponding prime frame expansion of this frame access node Lay replacement in arbitrary frame and the prime frame expansion closed loop access node group 6 in the prime frame group 6.

Now see also Fig. 3, it is the example that constitutes multimachine frame plate shape expansion closed-loop control among the present invention.It and above-mentioned structure similar shown in Figure 2 are optimized device 3, plate shape load distribution device 4 and final stage frame closed loop access node 5 by the plate shape measurement device 1 that connects mutually successively, flatness object curve setting device 2, plate shape equally and final stage frame 7 constitutes plate shape feedback closed loop control loop.Different part only is in described plate shape feedback closed loop control loop, connect prime frame expansion closed loop access node group 6 and prime frame group 8 respectively and constitute plate shape expansion feedback closed loop extension loop group via frame load distribution device 4 again, or connect a plurality of access nodes in the prime frames expansion closed loop access node groups 6 and the corresponding a plurality of frames in the prime frame group 8 correspondingly and constitute plate shape expansion feedback closed loop and control a plurality of loops via frame load distribution device 4.

Described plate shape measurement device 1 is a cage plate shape measuring roller; Described final stage frame closed loop access node 5 is PID (PID) adjuster that connects mutually with corresponding frame with prime frame expansion closed loop access node group 6.

Overview diagram 2 and shown in Figure 3, the cold continuous rolling plate shape expansion feedback closed loop extended method of present embodiment comprises step:

S1. measure stress distribution on the strip width direction by the plate shape measurement device 1 that is installed on final stage frame rear, obtain with one group of band steel actual plate shape curve σ=[σ that strip width direction stress is represented ₁σ ₂σ _n] ^T

S2. provide belt plate shape aim curve σ by flatness object curve setting device 2, and relatively obtain actual plate shape deviation with belt plate shape actual curve σ pointwise $\mathrm{\Δ}\widehat{\mathrm{\σ}=\stackrel{\‾}{\mathrm{\σ}}}-\mathrm{\σ}=\mathrm{\α\ΔU}=\mathrm{\α}{\left[\begin{array}{ccc}\mathrm{\ΔT}& \mathrm{\ΔB}& \mathrm{\ΔS}\end{array}\right]}^T,$ Wherein factor alpha is relevant with the thickness and the width of band steel, and Δ T, Δ B and Δ S represent the variable quantity of roller declination, bending roller force and intermediate calender rolls play respectively;

S3. optimizing device 3 by plate shape provides one group of regulated quantity Δ U to make $\left|\right|\mathrm{\Δ}\widehat{\mathrm{\σ}}-\mathrm{\α\ΔU}\left|\right|$ Value is minimum;

S4. by frame load distribution device 4 regulated quantity Δ U is distributed to the executing agency of each corresponding frame of the executing agency of final stage frame 7 and prime frame group 8;

S5. go to drive final stage frame 7 by final stage frame closed loop access node 5 simultaneously and carry out elimination plate shape biased operation, form feedback closed loop control; With go to drive the corresponding frame of each of prime frame group 8 executing agency by prime frame expansion closed loop access node group 6 and go to carry out and eliminate plate shape biased operation, form the control of expansion feedback closed loop.

Claims (10)

1. a cold continuous rolling plate form expansion feeding back closed-loop control system comprises the prime frame group (8) and the final stage frame (7) that are arranged in order; Be positioned at the plate shape measurement device (1) at final stage frame (7) rear, and the flatness object curve setting device (2) and the final stage frame closed loop access node (5) that are arranged in order thereafter, it is characterized in that:

A. the plate shape that connects this flatness object curve setting device (2) after also having is successively optimized device (3), frame load distribution device (4) and prime frame expansion closed loop access node group (6);

B. described plate shape measurement device (1), flatness object curve setting device (2), plate shape optimize device (3), frame load distribution device (4) and final stage frame closed loop access node (5) and final stage frame (7) connects and composes plate shape feedback closed loop control loop successively;

C. in the described plate shape feedback closed loop control loop, connect prime frame group (8) and form plate shape expansion feedback closed loop control loop group through prime frame expansion closed loop access node group (6) by frame load distribution device (4) again.

2. cold continuous rolling plate form expansion feeding back closed-loop control system according to claim 1, it is characterized in that described plate shape expansion feedback closed loop control loop group is to constitute a plate shape expansion feedback closed loop control loop by the prime frame that the prime frame expansion closed loop access node of this frame load distribution device (4) in this prime frame expansion closed loop access node group (6) connects in this prime frame group (8) at least.

3. cold continuous rolling plate form expansion feeding back closed-loop control system according to claim 2, it is characterized in that described plate shape expansion feedback closed loop control loop group is to connect the plate shape expansion feedback closed loop control loop that the prime frame in end in this prime frame group (8) constitutes by the prime frame expansion closed loop access node of this frame load distribution device (4) in prime frame expansion closed loop access node group (6) at least.

4. according to each described cold continuous rolling plate form expansion feeding back closed-loop control system in the claim 1 to 3, it is characterized in that described prime frame expansion closed loop access node group (6) is one group of PID adjuster that connects corresponding frame in the prime frame group (8).

5. cold continuous rolling plate form expansion feeding back closed-loop control system according to claim 1, it is characterized in that its regulated quantity Δ U that eliminates plate shape deviation of described frame load distribution device (4) distributes to the corresponding frame of each of the executing agency of final stage frame (7) and prime frame group (8) executing agency by preset proportion:

Δ U _{The final stage frame}=β Δ U

Δ U _{Prime frame group}=(1-β) Δ U

Wherein: 0＜β＜1.

6. cold continuous rolling plate form expansion feeding back closed-loop control system according to claim 1, it is characterized in that, described frame load distribution device (4) is pressed final stage frame priority allocation principle to the regulated quantity Δ U that eliminates plate shape deviation, after the adjusting variable quantity of the executing agency of final stage frame (7) reaches extreme value, more remaining regulated quantity is distributed to the executing agency of each corresponding frame of prime frame group (8).

7. according to claim 5 or 6 described cold continuous rolling plate form expansion feeding back closed-loop control systems, it is characterized in that described frame executing agency is meant the mechanism of the variable quantity that produces control roller declination, bending roller force and intermediate calender rolls play.

8. a cold continuous rolling plate shape is expanded the feedback closed loop control method, and its step comprises:

S1. when belt steel rolling, measure the stress distribution of being with on steel (9) width, obtain with the actual plate shape curve σ=[σ on one group of strip width direction by the plate shape measurement device (1) that is installed on final stage frame (7) rear ₁σ ₂σ _n] ^T

S2. provide belt plate shape aim curve σ by flatness object curve setting device (2), and relatively obtain actual plate shape deviation with belt plate shape actual curve σ pointwise

$\mathrm{\Δ}\widehat{\mathrm{\σ}}=\stackrel{\‾}{\mathrm{\σ}}-\mathrm{\σ}=\mathrm{\α\ΔU}=\mathrm{\α}[\mathrm{\ΔT\ΔB\ΔS}{]}^T;$

S3. optimizing device (3) by plate shape provides one group of regulated quantity Δ U to make $\left|\right|\mathrm{\Δ}\widehat{\mathrm{\σ}}-\mathrm{\α\ΔU}\left|\right|$ Value is minimum;

S4. by frame load distribution device (4) regulated quantity Δ U/ is distributed to the executing agency of each corresponding frame of the executing agency of final stage frame (7) and prime frame group (8);

S5. go to drive final stage frame (7) by final stage frame closed loop access node (5) simultaneously and carry out elimination plate shape biased operation, form feedback closed loop control; With go to drive the corresponding frame of each of prime frame group (8) executing agency by prime frame expansion closed loop access node group (6) and go to carry out and eliminate plate shape biased operation, form the control of expansion feedback closed loop.

9. cold continuous rolling plate shape expansion feedback closed loop control method according to claim 8, it is characterized in that, in described step S4, frame load distribution device (4) is eliminating plate shape bias adjustment amount Δ U distributes to each corresponding frame of the executing agency of final stage frame (7) and prime frame group (8) by preset proportion executing agency, or in mode by final stage frame (7) priority allocation, after making the adjusting variable quantity of the executing agency of final stage frame (7) reach extreme value, remaining regulated quantity is distributed to the executing agency of prime frame.

10. according to Claim 8 or 9 described cold continuous rolling plate shapes expansion feedback closed loop control methods, it is characterized in that described final stage frame (7) and prime frame group (8) executing agency provide the mechanism of the variable quantity that produces control roller declination, bending roller force and intermediate calender rolls play.

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