CN109189112B - A tension roller strip tension sliding mode control method and control device - Google Patents

Abstract

The invention provides a tension sliding mode control method and a control device for tension roller strip steel, and belongs to the field of industrial automation. The method comprises the following steps: step one, modeling tension of strip steel of a tensioning roller; step two, designing a tension sliding mode control method of the tension roller strip steel; compared with the traditional PID control method, the sliding mode control method can effectively overcome the control difficulties of nonlinearity, unknown external interference and the like of the tension roller strip steel tension; the invention relates to a tension sliding mode control device for tension roller strip steel, which takes Siemens S7-300 series PLC (CPU model 315-2 DP) as a master station, takes self-CPU distributed I/O ET200S (CPU model IM 151-7) as a slave station, and communicates with the master station through Profibus-DP field buses. The hardware design and the software design of the control device are completed.

Description

A tension roller strip steel tension sliding mode control method and control device

Technical Field

The invention designs a tension roller strip steel tension sliding mode control method and a control device, belonging to the field of industrial automation.

Background Art

In the metallurgical production process, accurate control of the tension of the tensioning roller strip is a key factor in ensuring the quality of strip products and improving strip production efficiency. Most of the existing strip tension control devices use PID control algorithms, which have low control accuracy and unsatisfactory control effects.

Summary of the invention

The purpose of the present invention is to design a sliding mode control method for the tension of a tensioning roller strip. Compared with the traditional PID control method, the sliding mode control method of the present invention can effectively overcome the control difficulties such as nonlinearity and unknown external interference of the tension of the tensioning roller strip. Another purpose of the present invention is to design a sliding mode control device for the tension of a tensioning roller strip that can realize the above-mentioned sliding mode control method. The device uses a Siemens S7-300 series PLC (CPU model 315-2DP) as the master station to complete the hardware design and software design of the control device.

In order to realize the development of an advanced control system for the tension of the tensioning roller strip steel, the present invention firstly establishes a state space model of the tension control of the tensioning roller strip steel, and then uses the industrial automatic control architecture of Siemens to develop a PLC sliding mode controller based on the sliding mode variable structure control theory, and finally establishes a strip steel tension sliding mode control device consisting of a PLC control system and a host computer monitoring system.

The present invention is achieved through the following technical solutions:

A tension roller strip steel tension sliding mode control method comprises the following steps:

Step 1: Modeling the tension of the tension roller strip

(1) Tension roller structure

According to the order in which the strip passes through each roller, each drive roller is defined as No. 1, No. 2, No. 3, and No. 4 respectively; among them, roller No. 1 and roller No. 4 rotate counterclockwise, and roller No. 2 and roller No. 3 rotate clockwise, _v0 is the upstream strip speed of the tensioning roller, and _v1 , _v2 , _v3 , and _v4 are the rotational linear speeds of each drive roller respectively; among them, the size of _v0 is determined by the upstream production process and detected by the measuring tool, and is a known parameter; the size of vi (i＝1,…,4) is controlled by the motor of each drive roller and is a variable parameter; _F1 is the tension at the entrance of the tensioning roller strip, _F2 , _F3 and _F4 are the strip tensions between each drive roller, and _F5 is the tension at the exit of the tensioning roller strip; among them, Fi (i＝1,…,4) is adjusted by adjusting the rotation speed of the four drive rollers, and the downstream strip tension F5 is determined by the downstream production equipment; _L1 is the strip length at the entrance of the tensioning roller strip, _L2 , _L3 and L4 are the strip tensions between the drive rollers, and _F5 is the strip tension at the exit of the tensioning roller. ₄ are the strip lengths between the drive rollers, and the strip lengths of each part are fixed known parameters;

(2) Establishment of tension roller strip model

In the process of controlling the tension of the tension roller strip, the rotation speed of each roller is adjusted by adjusting the electromagnetic torque _Te,i (i＝1,…,4) of each drive roller motor, thereby controlling the strip tension _Fi (i＝1,…,4); Te _,i is defined as the model input variable, and _Fi is defined as the model output variable. For the i-th drive roller, the motor motion equation can be obtained as follows:

In formula (1), _Ji is the moment of inertia of the i-th transmission roller, _ωi is the angular velocity of the i-th transmission roller, and T _L,i is the load torque of the i-th transmission roller motor; the mathematical relationship between T _L,i and the strip tension is obtained as follows:

T _L,i =(Fi _{-F i+1} )×R _i ,i＝1,2,3,4 (2)

Where R _i is the radius of the i-th transmission roller;

The strip tension is caused by the deformation of the strip. During the operation of the tension roller, the strip produces a flow rate difference due to the speed difference between the drive rollers, which in turn produces the strip tension. The mathematical relationship between the strip tension and the flow rate difference is:

Among them, k _i is the elastic coefficient of the strip steel, and its calculation formula is:

Among them, E is the elastic modulus of the strip steel, and S is the cross-sectional area of the strip steel;

Assuming that the linear velocity of the drive roller is consistent with the speed of the strip steel attached to the roller surface, the conversion relationship between the flow speed of the strip steel in the tension roller and the angular velocity of the drive roller is obtained from the angular velocity linear velocity conversion formula:

v _i ＝ω _i ×R _i ,i＝1,2,3,4 (5)

The dynamic mechanism model of the tension of the tension roller strip steel is obtained by combining equations (1)-(5):

According to the dynamic mechanism model of the tension control of the tension roller strip steel, the state space expression of the tension control of the tension roller strip steel is derived;

The state space vector x(t) is:

x(t)＝[x ₁ x ₂ x ₃ x ₄ x ₅ x ₆ x ₇ x ₈ ] ^T ＝[F ₁ ω ₁ F ₂ ω ₂ F ₃ ω ₃ F ₄ ω ₄ ] ^T ,

Take the control variable u(t) as: u(t)＝[u ₁ u ₂ u ₃ u ₄ ] ^T ＝[T _e,1 T _e,2 T _e,3 T _e,4 ] ^T ,

The output variable y(t) is: y(t) = [y ₁ y ₂ y ₃ y ₄ ] ^T = [F ₁ F ₂ F ₃ F ₄ ] ^T ,

According to formula (6), the state space expression of the tension control of the tension roller strip can be obtained as follows:

In formula (7), A, B, and T are the state matrix, input matrix, and output matrix of the system, respectively, and d is the known constant interference vector;

in:

Step 2: Design of tension roller strip tension sliding mode control method

make

则状态矩阵A可整理为：

Then the state matrix A can be organized as:

则输入矩阵B和定常干扰向量d可整理为：make

Then the input matrix B and the constant interference vector d can be arranged as:

跟随张力设定值

定义滑模函数为：Determine the control target and make the strip tension

Follow tension setting value

The sliding mode function is defined as:

s＝CE (8)

In formula (8), the values of each variable are:

s＝[s ₁ s ₂ s ₃ s ₄ ] ^T

Among them, e ₁ =y _d1 -y ₁ , e ₂ =y _d2 -y ₂ , e ₃ =y _d3 -y ₃ , e ₄ =y _d4 -y ₄ , c ₁ >0, c ₂ >0, c ₃ ＞0, c ₄ ＞0;

Taking the derivative of the switching function s, we get:

The constant velocity approaching law is used to obtain the control quantity u(x).

Among them, ε = diag [ε ₁ , ε ₂ , ε ₃ , ε ₄ ], sgn(s) = [sgn(s ₁ )sgn(s ₂ )sgn(s ₃ )sgn(s ₄ )] ^T ;

Combining equations (7)-(10), the control variable u(x) can be obtained as:

Take the Lyapunov function as:

Where V = diag[1,1,1,1];

In order to verify the stability of the obtained tensioning roller strip tension controller, combined with the selected constant velocity approach method, the sliding mode is derived from the Lyapunov function to obtain:

This verifies that the designed sliding mode controller can ensure the asymptotic stability of the system and make the strip tension of the tension roller follow the tension set value.

A tension roller strip steel tension slipform control device comprises a monitoring module and a control module, wherein the control module is connected to the monitoring module, the control module transmits the received signal to the monitoring module and displays it on the monitoring module, the monitoring module transmits the set signal to the control module, and the tension roller is controlled by the control module.

Furthermore, the control module includes a master station and a slave station. The master station is a Siemens S7-300 series PLC with a CPU model of 315-2DP. The slave station is a distributed I/O ET200S with its own CPU with a CPU model of IM151-7. The master station and the slave station communicate via the Profibus-DP field bus.

Furthermore, the monitoring module uses Activex controls integrated in the WinCC software, including a parameter display interface, a tension setting interface, a status monitoring interface, and an alarm report interface; the status monitoring interface is used to monitor various parameters of the tension control model of the tension roller strip steel, and the parameter display interface is used to display the parameter information of each control object in the control module in real time, and change the tension setting value of the strip steel through the tension setting interface according to the changes in the production specifications of the strip steel, while completing the real-time status detection of the strip steel tension and the alarm function during the tension control process.

The beneficial effects of the present invention are as follows: the present invention designs a sliding mode control method for the tension of the tension roller strip steel. Compared with the traditional PID control method, the sliding mode control method of the present invention can effectively overcome the control difficulties such as nonlinearity and unknown external interference of the tension of the tension roller strip steel; another purpose of the present invention is to design a sliding mode control device for the tension of the tension roller strip steel that can realize the above sliding mode control method. The control device selects Siemens S7-300 series PLC (CPU model 315-2DP) as the master station and selects the distributed I/O ET200S (CPU model IM151-7) with its own CPU as the slave station. The master and slave stations communicate through the Profibus-DP field bus. The hardware design and software design of the control device are completed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a structural diagram of a control system of the present invention.

FIG. 2 is a schematic diagram of the tensioning roller structure of the present invention.

FIG. 3 is a flow chart of the control program of the present invention.

DETAILED DESCRIPTION

The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Figures 1-3, a sliding mode control method for tensioning roller strip steel tension of the present invention comprises the following steps:

Step 1: Modeling the tension of the tension roller strip

(1) Tension roller structure

The present invention takes a four-axis tensioning roller composed of four transmission rollers as an example to establish a tensioning roller strip tension control model. According to the order in which the strip passes through each roller, each transmission roller is defined as No. 1, No. 2, No. 3, and No. 4. Among them, roller No. 1 and roller No. 4 rotate counterclockwise, roller No. 2 and roller No. 3 rotate clockwise, _v0 is the upstream strip speed of the tensioning roller, and _v1 , _v2 , _v3 , and _v4 are the rotational linear speeds of each transmission roller. Among them, the size of _v0 is determined by the upstream production process, which can be detected by the measuring tool and is a known parameter; the size of vi (i = 1, ..., 4) can be controlled by the motor of each transmission roller and is a variable parameter. _F1 is the tension at the entrance of the tensioning roller strip, _F2 , _F3 and _F4 are the strip tensions between each transmission roller, and _F5 is the tension at the exit of the tensioning roller strip. Among them, Fi (i = 1, ..., 4) can be adjusted by adjusting the rotation speed of the four transmission rollers, and the downstream strip tension _F5 is determined by the downstream production equipment. _L1 is the strip length at the strip entrance of the tensioning roller, _L2 , _L3 and _L4 are the strip lengths between each driving roller. The strip lengths of each part have been specified in the design of the annealing unit and are fixed known parameters.

(2) Establishment of tension roller strip model

In the process of tensioning roller strip tension control, the rotation speed of each roller is adjusted by adjusting the electromagnetic torque _Te,i (i＝1,…,4) of each drive roller motor, thereby controlling the strip tension F _i (i＝1,…,4). Define _Te,i as the model input variable and F _i as the model output variable. It is easy to see that the 4-axis tensioning roller strip tension control model is a typical multi-input and multi-output model. Analyze the tension control mechanism of the tensioning roller strip, ignore the viscosity factor inside the tensioning roller and the slip between the strip drive rollers, and the motor motion equation for the i-th drive roller can be obtained as follows:

In formula (1), _Ji is the moment of inertia of the i-th transmission roller, _ωi is the angular velocity of the i-th transmission roller, and T _L,i is the load torque of the i-th transmission roller motor. Ignoring minor factors such as the weight of the strip and the longitudinal pressure of the tensiometer, the mathematical relationship between T _L,i and the strip tension can be obtained as follows:

T _L,i =(Fi _{-F i+1} )×R _i ,i＝1,2,3,4 (2)

Where _Ri is the radius of the i-th transmission roller.

The strip tension is caused by the deformation of the strip. During the operation of the tension roller, the strip produces a flow rate difference due to the speed difference between the drive rollers, which in turn produces the strip tension. Ignoring the time delay in the strip deformation process, the mathematical relationship between the strip tension and the flow rate difference can be obtained as follows:

Among them, k _i is the elastic coefficient of the strip steel, and its calculation formula is:

Among them, E is the elastic modulus of the strip steel, and S is the cross-sectional area of the strip steel.

Assuming that the linear velocity of the drive roller is consistent with the speed of the strip steel attached to the roller surface, the conversion relationship between the flow speed of the strip steel in the tension roller and the angular velocity of the drive roller is obtained from the angular velocity linear velocity conversion formula:

v _i ＝ω _i ×R _i ,i＝1,2,3,4 (5)

The dynamic mechanism model of the tension of the tension roller strip steel is obtained by combining equations (1)-(5):

According to the dynamic mechanism model of the tension control of the tension roller strip steel, the state space expression of the tension control of the tension roller strip steel can be derived.

The state space vector x(t) is:

x(t)＝[x ₁ x ₂ x ₃ x ₄ x ₅ x ₆ x ₇ x ₈ ] ^T =[F ₁ ω ₁ F ₂ ω ₂ F ₃ ω ₃ F ₄ ω ₄ ] ^T

Take the control variable u(t) as:

u(t)＝[u ₁ u ₂ u ₃ u ₄ ] ^T ＝[T _e,1 T _e,2 T _e,3 T _e,4 ] ^T

The output variable y(t) is:

y(t)＝[y ₁ y ₂ y ₃ y ₄ ] ^T ＝[F ₁ F ₂ F ₃ F ₄ ] ^T

According to formula (6), the state space expression of the tension control of the tension roller strip can be obtained as follows:

In formula (7), A, B, and T are the state matrix, input matrix, and output matrix of the system, respectively, and d is the known steady-state interference vector.

Step 2: Design of tension roller strip tension sliding mode control method

则状态矩阵A可整理为：make

Then the state matrix A can be organized as:

则输入矩阵B和定常干扰向量d可整理为：make

Then the input matrix B and the constant interference vector d can be arranged as:

跟随张力设定值

定义滑模函数为：Determine the control target and make the strip tension

Follow tension setting value

The sliding mode function is defined as:

s＝CE (8)

In formula (8), the values of each variable are:

s＝[s ₁ s ₂ s ₃ s ₄ ] ^T

Among them, e ₁ =y _d1 -y ₁ , e ₂ =y _d2 -y ₂ , e ₃ =y _d3 -y ₃ , e ₄ =y _d4 -y ₄ , c ₁ >0, c ₂ >0, c ₃ ＞0, c ₄ ＞0;

Taking the derivative of the switching function s, we get:

The constant velocity approaching law is used to obtain the control quantity u(x).

Among them, ε = diag [ε ₁ , ε ₂ , ε ₃ , ε ₄ ], sgn(s) = [sgn(s ₁ )sgn(s ₂ )sgn(s ₃ )sgn(s ₄ )] ^T ;

Combining equations (7)-(10), the control variable u(x) can be obtained as:

Take the Lyapunov function as:

Among them, V=diag[1,1,1,1].

In order to verify the stability of the obtained tensioning roller strip tension controller, combined with the selected constant velocity approach method, the sliding mode is derived from the Lyapunov function to obtain:

This verifies that the designed sliding mode controller can ensure the asymptotic stability of the system and make the strip tension of the tension roller follow the tension set value.

As shown in Figures 1 to 3, a tension roller strip tension sliding mode control device uses PLC in the control system to complete the sliding mode control scheme of the tension roller strip tension, and the sliding mode control algorithm is implemented in PLC ladder diagram and statement table language. The controller adopts a master-slave station structure to meet the needs of centralized management and distributed control in complex metallurgical industries. The program function block function of Siemens PLC is fully utilized in the development of the sliding mode control program to complete the process control of the strip tension. The control signal and feedback signal are transmitted in real time between the controller and the tension roller system, so that the system remains in a state of dynamic response and stable control.

The host computer monitoring interface of the control system is developed using Siemens host computer monitoring system development software WinCC. The monitoring system displays the parameter information of each major control object in the control system in real time, and can change the tension setting value of the strip according to the production specifications of the strip. At the same time, it completes the real-time state detection of the strip tension and the alarm during the tension control process. In the design of the monitoring interface, the Activex control integrated in the WinCC software is fully utilized. On the basis of the perfect function and good performance of the entire monitoring system, the monitoring interface is made simple, beautiful and easy to operate. Finally, the underlying driver is called and configured to realize the mutual communication between the host computer, PLC and tension roller.

The tension roller strip tension control model contains 8 state variables, namely the strip tension of each section and the angular velocity of each drive roller. The system contains 4 control variables, whose values are provided by the PLC sliding mode controller in the control. The system contains 4 strip tension outputs, which are provided to the PLC controller as feedback signals in the control system. The control goal of the entire tension control system is to make the strip tension process value stably follow the strip tension set value and keep the control system with good dynamic characteristics.

According to the control requirements of the control system, the distributed program structure is used to design the control system software program development. Different organization blocks and function blocks are selected to implement the control functions of each part, and they are called in sequence in the main organization block OB1 to meet the control requirements. In the development of the control program, the design and implementation of the PLC controller sliding mode control algorithm is the key part of the entire software design. Before writing the program, the I/O interface of the system needs to be determined first. In the hardware configuration part, the input and output addresses of the system are allocated according to the physical wiring method of the control system and the working mode of each input and output module. The obtained system I/O distribution address is shown in Table 1:

Table 1 Control system I/O address allocation table

The PLC sliding mode control program operation flow chart is shown in Figure 3: When the PLC controller is in working state, the information exchange with the control object is realized by accessing the process image storage area of the CPU system memory. The process image area is mainly divided into two parts: the process image input table and the process influence output table. The former is used to store the signal status of the input module, and the latter is used to temporarily store the output value of the program execution result. These output values can only be transmitted to the actual output module after the scanning cycle ends. The error and its change rate in the tension control process are obtained using the cyclic interrupt organization block, and the error and its change rate are sent to the sliding mode function for calculation, and the control signal u is obtained.

The computer monitoring interface of the tension roller strip tension control monitoring mainly consists of four parts: status monitoring interface, parameter display interface, tension setting interface and alarm report interface.

In the status monitoring interface, various parameters of the tension roller strip tension control model can be monitored, including the rotation angle of each drive roller, the input torque of the control system, the set value and process value of the strip tension. At the same time, the status of the strip tension control process can be displayed in the status monitoring interface. When the strip tension is in a normal control state, the transmission roller center axis displays green, and when the strip tension control is abnormal, the transmission roller center axis turns red.

Enter the parameter display interface, where you can also monitor the set value and process value of each strip tension. In addition, the parameter display interface also has the function of modifying the strip tension set value. Enter the target tension set value in the "Please enter a new strip tension set value" column of any strip tension box in the parameter display interface, and click the OK button to complete the modification of the strip tension set value. It should be noted that since the adjustment of the strip tension set value of each section of the tension roller strip tension control model must meet certain constraints, no matter which strip tension setting interface in the parameter display interface is used to reset the strip tension, it will affect the overall strip tension control system.

Claims (4)

1. A tension roller strip steel tension sliding mode control method, characterized in that it comprises the following steps: Step 1: Modeling the tension of the tension roller strip (1) Tension roller structure According to the order in which the strip passes through each roller, each drive roller is defined as No. 1, No. 2, No. 3, and No. 4 respectively; among them, roller No. 1 and roller No. 4 rotate counterclockwise, and roller No. 2 and roller No. 3 rotate clockwise, _v0 is the upstream strip speed of the tensioning roller, and _v1 , _v2 , _v3 , and _v4 are the rotational linear speeds of each drive roller respectively; among them, the size of _v0 is determined by the upstream production process and detected by the measuring tool, and is a known parameter; the size of vi (i＝1,…,4) is controlled by the motor of each drive roller and is a variable parameter; _F1 is the tension at the entrance of the tensioning roller strip, _F2 , _F3 and _F4 are the strip tensions between each drive roller, and _F5 is the tension at the exit of the tensioning roller strip; among them, Fi (i＝1,…,4) is adjusted by adjusting the rotation speed of the four drive rollers, and the downstream strip tension F5 is determined by the downstream production equipment; _L1 is the strip length at the entrance of the tensioning roller strip, _L2 , _L3 and L4 are the strip tensions between the drive rollers, and _F5 is the strip tension at the exit of the tensioning roller. ₄ are the strip lengths between the drive rollers, and the strip lengths of each part are fixed known parameters; (2) Establishment of tension roller strip model In the process of controlling the tension of the tension roller strip, the rotation speed of each roller is adjusted by adjusting the electromagnetic torque _Te,i (i＝1,…,4) of each drive roller motor, thereby controlling the strip tension _Fi (i＝1,…,4); Te _,i is defined as the model input variable, and _Fi is defined as the model output variable. For the i-th drive roller, the motor motion equation can be obtained as follows:

In formula (1), _Ji is the moment of inertia of the i-th transmission roller, _ωi is the angular velocity of the i-th transmission roller, and T _L,i is the load torque of the i-th transmission roller motor; the mathematical relationship between T _L,i and the strip tension is obtained as follows: T _L,i =(Fi _{-F i+1} )×R _i ,i＝1,2,3,4 (2) Where R _i is the radius of the i-th transmission roller; The strip tension is caused by the deformation of the strip. During the operation of the tension roller, the strip produces a flow rate difference due to the speed difference between the drive rollers, which in turn produces the strip tension. The mathematical relationship between the strip tension and the flow rate difference is:

Among them, k _i is the elastic coefficient of the strip steel, and its calculation formula is:

Among them, E is the elastic modulus of the strip steel, and S is the cross-sectional area of the strip steel; Assuming that the linear velocity of the drive roller is consistent with the speed of the strip steel attached to the roller surface, the conversion relationship between the flow speed of the strip steel in the tension roller and the angular velocity of the drive roller is obtained from the angular velocity linear velocity conversion formula: v _i ＝ω _i ×R _i ,i＝1,2,3,4 (5) The dynamic mechanism model of the tension of the tension roller strip steel is obtained by combining equations (1)-(5):

According to the dynamic mechanism model of the tension control of the tension roller strip steel, the state space expression of the tension control of the tension roller strip steel is derived; The state space vector x(t) is: x(t)＝[x ₁ x ₂ x ₃ x ₄ x ₅ x ₆ x ₇ x ₈ ] ^T ＝[F ₁ ω ₁ F ₂ ω ₂ F ₃ ω ₃ F ₄ ω ₄ ] ^T , Take the control variable u(t) as: u(t)＝[u ₁ u ₂ u ₃ u ₄ ] ^T ＝[T _e,1 T _e,2 T _e,3 T _e,4 ] ^T , The output variable y(t) is: y(t) = [y ₁ y ₂ y ₃ y ₄ ] ^T = [F ₁ F ₂ F ₃ F ₄ ] ^T , According to formula (6), the state space expression of the tension control of the tension roller strip can be obtained as follows:

In formula (7), A, B, and T are the state matrix, input matrix, and output matrix of the system, respectively, and d is the known constant interference vector; in:

Step 2: Design of tension roller strip tension sliding mode control method make

Then the state matrix A can be organized as:

make

Then the input matrix B and the constant interference vector d can be arranged as:

Determine the control target and make the strip tension

Follow tension setting value

The sliding mode function is defined as: s=CE (8) In formula (8), the values of each variable are: s＝[s ₁ s ₂ s ₃ s ₄ ] ^T

Among them, e ₁ =y _d1 -y ₁ , e ₂ =y _d2 -y ₂ , e ₃ =y _d3 -y ₃ , e ₄ =y _d4 -y ₄ , c ₁ >0, c ₂ >0, c ₃ ＞0, c ₄ ＞0; Taking the derivative of the switching function s, we get:

The constant velocity approaching law is used to obtain the control quantity u(x).

Among them, ε=diag[ε ₁ , ε ₂ , ε ₃ , ε ₄ ], sgn(s)=[sgn(s ₁ ) sgn(s ₂ ) sgn(s ₃ ) sgn(s ₄ )] ^T ; Combining equations (7)-(10), the control variable u(x) can be obtained as:

Take the Lyapunov function as:

Where V = diag[1,1,1,1]; In order to verify the stability of the obtained tensioning roller strip tension controller, combined with the selected constant velocity approach method, the sliding mode is derived from the Lyapunov function to obtain:

This verifies that the designed sliding mode controller can ensure the asymptotic stability of the system and make the strip tension of the tension roller follow the tension set value. 2. A control device adopts a tensioning roller strip tension slipform control method as described in claim 1, characterized in that it includes a monitoring module and a control module, the control module is connected to the monitoring module, the control module transmits the received signal to the monitoring module and displays it on the monitoring module, the monitoring module transmits the set signal to the control module, and the tensioning roller is controlled by the control module. 3. A tension roller strip tension slipform control device according to claim 2, characterized in that: the control module includes a master station and a slave station, the master station selects Siemens S7-300 series PLC, and the CPU model is 315-2DP; the slave station selects the distributed I/O ET200S with its own CPU, and the CPU model is IM151-7, and the master station and the slave station communicate through the Profibus-DP field bus. 4. A tensioning roller strip tension slipform control device according to claim 2, characterized in that: the monitoring module uses Activex controls integrated in the WinCC software, including a parameter display interface, a tension setting interface, a status monitoring interface, and an alarm report interface; the status monitoring interface is used to monitor the various parameters of the tensioning roller strip tension control model, and the parameter display interface is used to display the parameter information of each control object in the control module in real time, and change the tension setting value of the strip through the tension setting interface according to the changes in the production specifications of the strip, and at the same time complete the real-time status detection of the strip tension and the alarm function during the tension control process.

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