CN100467153C - Method for controlling thickness of cold rolled steel strip capable of conducting dynamic compensation of thermal expansion of rollers - Google Patents
Method for controlling thickness of cold rolled steel strip capable of conducting dynamic compensation of thermal expansion of rollers Download PDFInfo
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- CN100467153C CN100467153C CNB2006101021710A CN200610102171A CN100467153C CN 100467153 C CN100467153 C CN 100467153C CN B2006101021710 A CNB2006101021710 A CN B2006101021710A CN 200610102171 A CN200610102171 A CN 200610102171A CN 100467153 C CN100467153 C CN 100467153C
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Abstract
The invention relates to a method for controlling the thickness of cold rolled band steel which can process roller thermal expansion dynamic compensation, wherein the invention is characterized in that: it has roller thermal expansion dynamic compensation module, based on position and thickness detection; said module based on expansion theory, dynamically corrects and compensates the preset position value. The invention leads said thermal expansion dynamic compensation into AGC system, which can analyze the data based on the tested signal to obtain present thermal expansion information, and calculate out the compensated value to correct the position setting value, to hold the roller seam constant. Therefore, the roller length will be uniform.
Description
Technical field
The present invention relates to a kind of at the rolled metal thin plate, the method for controlling thickness that particularly can the breaker roll thermal expansion in the process of strip steel compensates.
Background technology
In the production process of rolled metal thin plate band, what people more were concerned about is whether its thickness is even, particularly along the length direction of band or whether even along the thickness of rolling direction band.
Cold rolling of strip steel equipment should comprise at least one or arrange several rolling-mill housing continuously that band is being in the roll gap through entering the gap that is limited by roll after each frame.Rolling control system depress according to the roll that is distributed in exit thickness, inlet thickness that each sensor measurement on the rolling equipment obtains, depresses each frame of Signal Regulation such as cylinder displacement, roll-force and front and back tension force or frame before and after tension force be rolled.
The radial dimension of roll is stable to be one of condition that obtains along the band length direction the uniform band of thin and thick.Yet in the operation of rolling, the metal rolled piece produces plastic deformation heat, between roll and the rolled piece because relative slip generation frictional heat.The part of these heats will be imported roll into raises roller temperature, thereby produces corresponding radial thermal expansion.According to the actual measurement data of certain 1,450 five frame tandem mills, when 10 ℃ of working roll variations in temperature, the roll gap variation reaches 0.3mm.Actual when rolling, the working roll variations in temperature this shows much larger than 10 ℃, and thermal deformation is to roll gap, and then the influence of strip flatness and gauge be can not ignore.Because the influence of thermal expansion of rollers in the operation of rolling, particularly overproof the and rolling wild effect of tangible thickness can occur after roll change and in a period of time of the beginning of each passage, sometimes even the generation broken belt, have a strong impact on production.
Known several inhibition thermal expansion of rollers bring dysgenic method now, and thickness is more even in the longitudinal direction thereby make band.
First kind of known method is that the rolling line space of advancing of beginning is changeed preheating after roll change.This preheating approximately needs 10min-20min, and purpose is to make roll reach certain temperature before rolling, near thermal equilibrium state, thereby reduces further swell increment in the operation of rolling.And in fact, in the idle running process, do not have the distortion heat of rolled piece and the frictional heat between roll and rolled piece, so the thermal equilibrium state of preheating can not reach continuous rolling the time, the effect that reaches is limited, generally can only reach 20% of actual temperature rise.And warm itself takies production equipment and time, influences production efficiency.
Second kind of known method is to adopt the roll-force closed loop to eliminate the band steel exports varied in thickness that thermal expansion brings.Ring has ring and two kinds of patterns of the interior ring of roll-force in the displacement usually in the depress oil cylinder control among the cold rolling of strip steel AGC, and commonly used is ring mode in the displacement.As adopt the pattern of encircling in the roll-force, when roll radially produces expansion, roll gap reduces, drafts increases, roll-force increases, and controller can be reconciled the input signal of depressing Hydrauservo System, increases roll gap, keep roll-force constant, can suppress the varied in thickness that thermal expansion of rollers brings to a certain extent like this.If but the uneven thickness of supplied materials, perhaps the hardness inequality adopts the roll-force closed loop mode can cause mistuning to separate, and produces bigger thickness fluctuation.Therefore strict restriction is received in the use of roll-force closed loop.
The third known method is to eliminate the band steel exports varied in thickness that thermal expansion brings by the thickness monitoring closed loop.Thickness monitoring closed loop block diagram among the cold rolling of strip steel AGC is seen accompanying drawing 1, theoretically, causes the disturbing factor of thickness fluctuation for all, is eliminated thereby the thickness monitoring closed loop can both change the roll gap size by the displacement of regulating depress oil cylinder.But in the rolling equipment of reality, the installation requirement of calibrator must keep certain distance with frame and roll gap, and as about 2m, purpose is to guarantee to wear the safety of being with convenient and calibrator.This just makes thickness measurement signal lag in actual roll gap variation itself, when mill speed is 300m/min, is approximately 0.4s lag time.Because exist than large time delay, the disturbance of facing is varied, may comprise various frequency contents, particularly radio-frequency component, so the gain of thickness monitoring closed loop is generally very little, to guarantee the stable of the operation of rolling.On the other hand, the intensification of roll and the process that expands and to become when also being particularly begin to change in a period of time after rolling very fast.Therefore, the inhibitory action of this method breaker roll thermal expansion also is limited.
The 4th kind of known method is to forecast according to certain theoretical model or neural network model by the breaker roll thermal expansion, and breaker roll thermal expansion as a result compensates according to weather report.Because the complexity of practical problem, theoretical model all is to set up on the basis of simplifying and supposing, neural network model is subjected to the restriction of structure and parameter, be based on of the estimation of some technological parameters to the thermal expansion of rollers process that will take place, the general rule of the macroscopic view that can only reflect heat expands, and (as wear the variation of band time owing to all accidentalia for concrete each passage, acceleration and deceleration time length, coolant rate variations etc.) variation that causes local particularity can not be made effective reflection.
Summary of the invention
The purpose of this invention is to provide a kind of method for controlling thickness of cold rolled steel strip that carries out dynamic compensation of thermal expansion of rollers, this control method can effectively suppress the sheet metal strip variation of thickness along its length that thermal expansion of rollers causes.
Method of the present invention is applicable to single-stand cold-rolling machine or cold continuous rolling.In the method, at first utilize measurement mechanism (comprising cylinder displacement transducer under the thick instrument of outlet side, the two pressure measurement, two survey rolling force sensor, mill speed sensor etc.) on-line measurement procedural information, and sample according to certain sampling period, be saved in the process database.
Depress the cylinder displacement signal, roll-force signal, exit thickness signal demand that then the scene are obtained carry out again ordering and arrangement by " time coupling ".The time coupling serves as according to carrying out with mill speed v, calibrator mounting distance l, sampling period T." time coupling " preceding all measured signals are to be stored in the database with fixing sampling interval T according to acquisition time, manage according to array.Array D ' after " time coupling " calculates according to following formula:
D wherein
1(i) represent i to depress the cylinder displacement signal constantly, D
2(i) represent i roll-force signal constantly, D
3Be engraved and pressed to a mouthful thickness signal when (i) representing i.
After " time coupling ", eliminated the influence that the outlet thickness measuring lags behind, the operation of rolling parameter that synchronization is collected is converted to the operation of rolling parameter array that synchronization takes place.
The thermal expansion of roll constitutes influence to the outlet thickness of slab together with other operation of rolling parameter, though thermal expansion of rollers can not directly be measured, but it is hidden among these process datas, can pass through relevant field measurement signal, comprise that depressing cylinder displacement signal, roll-force signal, exit thickness signal carries out information fusion and thick difference and trace to the source and obtain, the thermal expansion signal model of tracing to the source is:
Δ P is the roll-force variable quantity in the formula; Δ x
pBe the oil cylinder displacement variable; Δ h
1Be the exit thickness variable quantity; K
mLongitudinal rigidity for this frame.
Calculate by following formula and in fact can obtain and the same thermal expansion of rollers time series at interval of collection period.Therefore can adopt the method for digital filtering further to handle, remove the noise in the signal.For example adopt simple local mean values filtering method.Thermal expansion of rollers through filtering is more true and reliable, can be used as the foundation of compensation.
At last, by the thermal expansion of rollers compensator, roll gap is adjusted according to the thermal expansion of rollers signal that obtains.In order to guarantee the continuity and the stability of thermal expansion amount compensation, have the characteristics of big inertia in conjunction with thermal expansion amount, the calculating of offset combines the influence of historical offset data and current thermal expansion signal, these numerical value is weighted adds up.The weights maximum of wherein current thermal expansion value, span 0.5-0.8.The result of compensator deposits in the register on the one hand, and amount input position closed loop carries out the set positions correction by way of compensation on the other hand, guarantees that gap values between rollers is constant.
Objective for implementation of the present invention should possess screwdown gear, control corresponding device and the compensation arrangement in a frame, the frame at least, and is installed in the rolling parameter measuring apparatus on the rolling equipment and data analysis set-up etc. and forms as shown in Figure 2.Data analysis set-up links to each other with each measurement mechanism, receive measuring-signal, compensation arrangement links to each other with data analysis set-up, the thermal expansion of rollers information that receiving and analyzing obtains, and the compensation rate weighted average in a last moment of in compensator, storing, calculate compensation rate this moment.Screwdown gear receives the compensating signal of compensation arrangement, and carries out the adjusting action to roll gap.
Because current operation of rolling control system adopts distributed computer control system mostly, above-mentioned relevant devices and device also can adopt the form of program and software to be realized.
Behind the description of drawings below having read following Example and reference, will more be expressly understood the present invention.
Description of drawings
Below in conjunction with accompanying drawing and with the thermal expansion rule of 300 reversible 4-roller cold rolling mills extract, compensation process is example, the present invention will be described in more detail.
Fig. 1 is the automatic thickness control system of existing rolling equipment (AGC) block diagram;
Fig. 2 adds automatic thickness control system (AGC) block diagram that is used for the thermal expansion of rollers compensating module of the present invention;
Fig. 3 is the fundamental diagram of temperature compensation module.
The specific embodiment
Fig. 2 is an embodiment disclosed by the invention, the AGC system adopts ring or the interior mode (see figure 1) of encircling the outer shroud that adds thickness of pressure in the typical position, the setting value of position ring is set to calculate according to model and is provided, give PID adjuster through comparator, depress the cylinder action through servo amplifier and electrohydraulic servo valve control then, regulate gap values between rollers.The displacement signal of hydraulic cylinder is measured by the magnetic scale that is connected on piston and the cylinder body, feeds back to comparator and forms position closed loop.Exit thickness is measured by calibrator, obtains the thickness deviation value after comparing with target thickness, behind caliper profiler, obtains the position correction amount and gives position ring.
In order to compensate the interference that thermal expansion of rollers brings, on the basis of existing AGC system, added temperature compensation module (see figure 2).It can carry out data analysis according to the signal of measurement mechanism actual measurement, obtain current thermal expansion information, by the compensation rate of temperature compensation device, append then to position setting value, again to guarantee that gap values between rollers is constant in conjunction with the actual compensation rate calculating current time of previous moment.
The fundamental diagram (see figure 3) of temperature compensation module, measured data is meant by rolling the on-the-spot sensor of value and obtains among the figure, comprise outlet thickness of slab signal, both sides roll-force signal, both sides cylinder displacement signal and main transmission rate signal etc., data-analyzing machine should comprise data handling machine and corresponding data processing software.The sensor signal that collection in worksite obtains is put in order by computer and is saved as array according to fixing period T.Yet the data of synchronization record can not be represented the rolling district parameter of synchronization.This be since as previously mentioned the thickness signal that causes of the installation site of calibrator lag behind and cause.After " time coupling ", eliminated the influence that the outlet thickness measuring lags behind, the operation of rolling parameter that synchronization is collected is converted to the operation of rolling parameter array that synchronization takes place.For the extraction of thermal expansion of rollers information is got ready.
According to the thickness of slab control theory, the thickness of roll gap size decision outlet band, roll gap is again that roller is the result that vertical spring of drafts and milling train and roll radial dimension change (mainly being thermal expansion of rollers) comprehensive function simultaneously.Mill spring can be calculated by roll-force and milling train longitudinal rigidity.Usually, the milling train longitudinal rigidity is known maybe can obtaining by pressing actual measurement, and bilateral roll-force, the displacement of bilateral oil cylinder, band steel exports thickness are provided by measured data, therefore can obtain current thermal expansion of rollers variable quantity according to the above-mentioned model of tracing to the source.
The thermal expansion signal that obtains for tracing to the source adopts the method for digital filtering further to handle, and removes the noise in the signal.For example adopt simple local mean values filtering method.Thermal expansion of rollers through filtering is more true and reliable, can be used as the foundation of compensation.
By the thermal expansion of rollers compensator compensation rate is dropped into position closed loop and carry out the set positions correction, guarantee that gap values between rollers is constant.
According to the present invention, can the breaker roll thermal expansion carry out the special compensation that shoots the arrow at the target, penalty coefficient gets 0.8 and since data handle in elimination high-frequency noise part and in compensator, add inertial component, guaranteed the stability of the operation of rolling.
For 300 reversible 4-roller cold rolling mills, adopting the position ring rolling exit thickness of monitoring that adds thickness when not adopting the inventive method is the band steel of 0.26mm, length 800m, resulting sheet metal strip with the thickness of slab difference less than 13 μ m.Adopt the rolling same band steel of method and apparatus of the present invention, resulting sheet metal strip with the thickness of slab difference less than 4 μ m.Simultaneously, adopt method and apparatus of the present invention to save roll preheating time, reduced the overproof length of thickness in unstable stage, improved the output and the quality of Rolling Production.
Claims (4)
1. method for controlling thickness of cold rolled steel strip that can carry out dynamic compensation of thermal expansion of rollers, in the position, increase the thermal expansion of rollers compensating module on the basis of ring, thickness monitoring outer shroud, this thermal expansion of rollers compensating module is according to the thermal expansion rule of roll, position setting value is revised dynamically and compensated, it is characterized in that: described thermal expansion of rollers compensating module comprises process signal measurement, measuring-signal time coupling, thermal expansion calculated signals and temperature compensation link.
2. method according to claim 1 is characterized in that: depress cylinder displacement signal, roll-force signal and exit thickness signal that the scene obtains are resequenced by " time coupling " and put in order; The time coupling serves as that foundation is carried out with mill speed v, calibrator mounting distance l, sampling period T, and " time coupling " preceding all measured signals are to be stored in the database with fixing sampling interval T according to acquisition time, manage according to array; Array D ' after " time coupling " calculates according to following formula:
In the formula:
D
1(i) represent i to depress the cylinder displacement signal constantly; D
2(i) represent i roll-force signal constantly; D
3Be engraved and pressed to a mouthful thickness signal when (i) representing i.
3. method according to claim 1, it is characterized in that: the thermal expansion signal is by comprising that to relevant field measurement signal depressing cylinder displacement signal, roll-force signal and exit thickness signal carries out information fusion and thick difference and trace to the source and obtain, and the thermal expansion signal model of tracing to the source is:
Calculate the time series of thermal expansion of rollers signal by following formula, foundation is by way of compensation revised the position ring setting value by the thermal expansion of rollers compensator, realizes the adjusting to roll gap;
In the formula: Δ P is the roll-force variable quantity; Δ x
pBe the oil cylinder displacement variable; Δ h
1Be the exit thickness variable quantity; K
mLongitudinal rigidity for this frame.
4. method according to claim 3 is characterized in that: the offset of thermal expansion of rollers compensator be historical offset data and current thermal expansion signal weighted accumulation and, the weights of the value of wherein current thermal expansion signal are 0.5-0.8.
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| CNB2006101021710A CN100467153C (en) | 2006-11-17 | 2006-11-17 | Method for controlling thickness of cold rolled steel strip capable of conducting dynamic compensation of thermal expansion of rollers |
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Families Citing this family (15)
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| WO2011027451A1 (en) * | 2009-09-03 | 2011-03-10 | 東芝三菱電機産業システム株式会社 | Setting calculation learning device and method for learning setting calculation |
| CN102107218B (en) * | 2009-12-25 | 2012-10-31 | 鞍钢股份有限公司 | Stable rolling method for tail of hot-rolled thin strip steel |
| CN102410824B (en) * | 2011-08-05 | 2013-06-19 | 北京理工大学 | Device and method for detecting thickness of steel plate |
| CN102941232B (en) * | 2012-11-12 | 2014-12-10 | 东北大学 | Method for controlling hot continuous rolling finish rolling process |
| CN102921734A (en) * | 2012-11-17 | 2013-02-13 | 武钢集团昆明钢铁股份有限公司 | Method for preheating cold rolling roller |
| CN103316928B (en) * | 2013-06-25 | 2014-12-17 | 中冶南方工程技术有限公司 | On-line cold-rolled flatness signal pattern recognition system |
| CN103934280A (en) * | 2014-04-14 | 2014-07-23 | 鞍钢建设集团有限公司 | Control method for thickening rolling of cold-strip steel head |
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| JP6438753B2 (en) * | 2014-12-05 | 2018-12-19 | 株式会社日立製作所 | Tandem rolling mill control device and tandem rolling mill control method |
| CN107314794B (en) * | 2017-08-07 | 2019-09-27 | 燕山大学 | It is a kind of for measuring the method and device of dynamic flow |
| CN107321800B (en) * | 2017-09-05 | 2018-09-25 | 燕山大学 | Belt steel thickness based on dynamic variable specification dynamically adjusts control method online |
| CN109226277B (en) * | 2018-11-07 | 2020-01-21 | 太原科技大学 | Method for controlling flexible rolling thickness of non-ferrous metal |
| CN110543140B (en) * | 2019-07-26 | 2020-05-08 | 四川大学 | Time characteristic-based numerical control machine tool spindle system thermal key point selection modeling method |
| CN110424183A (en) * | 2019-08-14 | 2019-11-08 | 浙江华章科技有限公司 | A kind of sizing applicator press nip value control method |
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