CN103286142A - Dynamic roll gap compensation method during cold continuous rolling flying gauge control - Google Patents
Dynamic roll gap compensation method during cold continuous rolling flying gauge control Download PDFInfo
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Abstract
The invention discloses a dynamic roll gap compensation method during cold continuous rolling flying gauge control and belongs to the technical field of automatic control of cold continuous rolling. The method includes a part of roll gap compensation for a welding gap position at the position of a rolling mill inlet front thickness gauge and a part of roll gap compensation for the welding gap position at the positions of all rolling mill outlet thickness gauges. A roll gap adjustment value is determined by a model system of a process computer to a great degree due to the fact that a large part of AGC functions are not introduced during flying gauge control. Therefore, computational accuracy of the model system can directly affect thickness control accuracy during flying gauge control. A practical inlet thickness acquired by using a practical thickness gauge at the position of the rolling mill inlet front thickness gauge is adopted to replace a raw material thickness to improve initial data accuracy for setting a model, and a set value of a roll gap during FGC is corrected according to calculated deviation between a front steel coil roll gap and a back steel coil roll gap so as to improve setting accuracy of the roll gap. More accurate roll force is acquired in the method of dynamic self-adapting at the positions of all the rolling mill outlet thickness gauges, setting accuracy of the roll gap is improved, and then the roll gap value can be compensated during flying gauge control.
Description
Technical Field
The invention belongs to the technical field of automatic control of cold continuous rolling, and particularly provides a dynamic roll gap compensation method during dynamic specification change of cold continuous rolling.
Background
The cold continuous rolling dynamic variable specification FGC (flying Gauge control) is to change the rolling schedule of the previous strip steel to the rolling schedule of the next strip steel under the condition of not stopping the rolling mill, and to finish the change of the thickness and the width of the strip steel before and after the rolling. FGC is a complex changing process, in the process, the roll gap and the roll speed of each rack of a cold continuous rolling unit are adjusted for many times, the tension and the rolling force of each rack are changed, and the outlet thickness of each rack inevitably fluctuates, thereby influencing the thickness precision of the finished strip steel. In addition, because the roll gap and the roll speed are adjusted for a plurality of times, most AGC functions of the cold continuous rolling mill set are not put into the FGC process any more, and the roll gap and roll speed adjusting values are determined by model system calculation values of the process computer to a great extent. The computational accuracy of the model system thus directly affects the FGC time thickness control accuracy.
In order to improve the thickness control precision during dynamic specification changing, reduce head and tail thickness out-of-tolerance and ensure the stability of the specification changing rolling process, a dynamic roll gap compensation method is adopted in a computer in the acid rolling process. The dynamic roll gap compensation method during dynamic specification changing is to measure the thickness of the inlet of the rack by a thickness meter of the inlet of a rolling mill section, calculate the actual reduction rate, calculate the roll gap deviation value during dynamic specification changing according to a set model to correct the roll gap set value during FGC, thereby improving the set precision of the roll gap; and meanwhile, dynamic self-adaptive calculation is carried out at the outlet thickness gauge of the rolling mill according to the measured data, the calculation precision of the rolling force is improved, the setting precision of the roll gap is also improved, and the roll gap setting value is compensated.
Disclosure of Invention
The invention aims to provide a dynamic roll gap compensation method during cold continuous rolling dynamic specification changing, which solves the technical problems of low thickness control precision and head-tail thickness super-difference during dynamic specification changing; the yield of the cold-rolled sheet strip is improved.
The invention comprises two parts, one part is roll gap compensation of a welding seam position at a thickness gauge in front of an inlet of a rolling mill; the other part is roll gap compensation of the welding seam position at the position of each rolling mill outlet thickness gauge. Since most of the AGC functions are not put into the dynamic specification changing process, the roll gap adjustment value is determined by the model system calculation value of the process computer to a great extent. Therefore, the calculation accuracy of the model system directly influences the thickness control accuracy during dynamic specification changing. And replacing the raw material thickness by the actual inlet thickness obtained by the actual thickness gauge at the position of the rolling mill inlet front thickness gauge, improving the initial data precision of the set model, and correcting the set value of the FGC roll gap according to the calculated roll gap deviation value of the front and rear steel coils, thereby improving the roll gap setting precision. And at the position of each rolling mill outlet thickness gauge, more accurate rolling force precision is obtained through dynamic self-adaptation, the setting precision of the roll gap is improved, and the roll gap value during dynamic specification changing is compensated. The process comprises the following steps:
1) setting calculation is carried out at a thickness gauge in front of an inlet of the rolling mill section according to the actually measured data, the model setting precision is improved, and dynamic compensation is carried out on a roll seam setting value;
2) at each mill outlet thickness gauge, according to real-time measurement data, the calculation accuracy of the rolling force is improved through dynamic self-adaptation, and the roll seam set value is dynamically compensated;
as a further improvement of the invention, the step 1) comprises the following steps:
firstly, measuring the actual inlet thickness H of the strip steel measured by a thickness meter at the inlet of a rolling mill sectionaReplacing the thickness H of the raw material, and obtaining the actual reduction rate according to the actual inlet thickness, wherein the pressure rates of the 2#, 3#, 4#, and 5# racks are unchanged;
and secondly, calculating rolling parameters under different rolling states (steady state high speed, shearing low speed and dynamic variable specification) by using a rolling force model, a rolling moment model, a rolling power model, a friction coefficient model, a deformation resistance model, a flattening radius model, a front sliding model, a roll gap calculation model and a plastic deformation coefficient model according to the obtained actual inlet thickness and the rolling reduction, and finally obtaining the roll gap difference value of the front steel coil and the rear steel coil under the dynamic variable specification rolling state, and sending the roll gap difference value to an L1-level PLC control execution mechanism as a roll gap compensation value.
As a further improvement of the invention, the step 2) comprises the following steps:
step one, calculating to obtain a dynamic rolling force self-adaptive coefficient and a forward slip coefficient at each mill outlet thickness gauge according to actual rolling parameters (actual strip steel thickness, rolling speed, rolling force, forward slip, roll gap and power) collected from a process control system; the method comprises the following specific steps:
a. collecting actual rolling parameters from a process control system at each mill outlet thickness gauge to obtain an actual rolling force paAnd simultaneously obtaining the calculated rolling force p according to the actual rolling parameterscaThen calculating to obtain the self-adaptive coefficient zp of the actual rolling forcea=pca/pa。
b. Adaptive coefficient zp of actual rolling forceaAnd feedback of the adaptive coefficient zp of rolling forcefPerforming exponential smoothing to obtain a new dynamic rolling force adaptive coefficient zp = zpf(1-ε)+zpa(ii) a Where ε is an exponential balance factor.
c. The actual forward slip values for each stand are calculated based on the actual rolling parameters collected from the process control system.
Secondly, recalculating rolling parameter values including rolling speed, rolling force and roll gap by using a dynamic adaptive coefficient in a rolling mathematical model so as to dynamically compensate the roll gap value at an outlet thickness gauge of the rack; the method comprises the following specific steps:
calculating rolling parameters by the following steps and formulas, and firstly checking whether the dynamic self-adaptive coefficient is in a reasonable range; then, under different rolling states (including steady high-speed, low-speed shearing and dynamic specification changing), according to the rolling parameter model, calculating the rolling parameters such as friction coefficient, rolling force, flattening radius, rolling moment, rolling power, roll gap and the like; and finally, obtaining the roll gap difference value of the front and the rear steel coils in the dynamic variable-specification rolling state, and sending the roll gap difference value as a roll gap compensation value to the basic automation.
The invention has the advantages that the dynamic roll gap compensation calculation is carried out on the actual data obtained at the inlet and outlet thickness gauges of the rolling mill, the setting precision of the model roll gap is improved, and the head thickness deviation during dynamic specification change is reduced.
Drawings
FIG. 1 is a flow chart of dynamic roll gap compensation calculation before the entrance of a rolling mill.
FIG. 2 is a flow chart of a dynamic roll gap compensation adaptive calculation.
FIG. 3 is a flow chart of dynamic roll gap compensation calculation at the outlet of the rolling mill.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings.
The dynamic roll gap compensation method is related to whether thickness gauges are installed at the front and the back of a rolling mill of a cold rolling production line, and dynamic compensation calculation is carried out only when a welding seam meets the thickness gauges. The method is applied to a certain cold-rolled silicon steel production line, the factory uses five frames and six rollers for rolling, 4 thickness gauges are arranged in total, 2 thickness gauges are respectively arranged in front of and behind a #1 rolling mill, and 2 thickness gauges are respectively arranged in front of and behind a #5 rolling mill.
Therefore, the dynamic roll gap compensation method is respectively calculated at the inlet of the #1 rolling mill and at the outlet of the #1 rolling mill, the outlet of the #4 rolling mill and the outlet of the #5 rolling mill. The dynamic compensation calculation at the mill entrance thickness gauge is not the same as the dynamic compensation calculation at the mill exit thickness gauge.
First, a dynamic roll gap compensation calculation at the #1 mill entry thickness gauge was performed. When the specifications are dynamically changed in the cold continuous rolling process, when a welding seam point passes through a #1 rolling mill inlet thickness gauge, the basic automation sends real-time data to a process control system, a calculation model is set, the actual thickness is used for replacing the thickness of a raw material, and the actual pressure rate is calculated.
h[0]=ha
r[0]=1-h[1]/h[0]
Wherein h isaIs the entrance thickness of #1 rack, ri]For the reduction of the individual stands, h [ i ]]Is the thickness of each frame. Reduction ratio r [0] of #1 frame]Calculated from the actual inlet thickness, while the reduction ratios of the other stands were unchanged.
And calling a set calculation mathematical model according to the thickness and the reduction ratio of the entrance and the exit of each frame, the roll data and other original data, and calculating the rolling parameters such as rolling speed, tension, rolling force, flattening radius, roll gap and the like in various rolling states (a steady rolling state, a low-speed shearing state and a dynamic specification changing state). The calculation flow chart is shown in fig. 1.
The calculation process is as follows:
1) obtaining the maximum second flow rate in rolling calculation according to the maximum inlet speed of the #1 rack, the inlet thickness of the incoming material, the maximum outlet speed and the comparison analysis of the finished product thickness;
2, according to the specifications of the rolled strip steel such as steel type, entrance thickness, width, exit thickness and the like, inquiring a constant table, and setting the tension of the strip steel, including the tension between frames, the coiling tension and the like;
3) calculating a flattening radius, a friction coefficient and forward slip according to a mathematical model, and then setting the strip steel speed, the roller speed and the motor rotating speed;
4) and calculating rolling parameters such as rolling force, rolling moment, rolling power and the like according to the mathematical model.
Theoretically, the rolling force calculation is carried out by adopting an explicit form of combined solution of a Bland-Ford-Hill model and a Hitchcock model, and a basic theoretical model is as follows:
wherein: p is rolling force, b is rolling width, kpFor resistance to deformation, μ is the coefficient of friction, DpThe calculation factor is hill, k is a tension influence factor, R' is a flattening radius, H is the thickness of the inlet of the rolling mill, H is the thickness of the outlet of the rolling mill, and R is the reduction rate.
Wherein, the calculation formula of the tension influence coefficient is as follows:
wherein k issResistance to static deformation, tbIs the backward unit tension of the strip steel, tfIs the forward unit tension.
The calculation formula of the dynamic deformation resistance is as follows:
wherein k issIn order to be resistant to static deformation,
is a coefficient of sensitivity
。
5) Calculating a roll gap value according to a mathematical model, and a roll gap change value caused by a change (such as narrow and wide) of the contact length;
K=b1·log(x)-b2
wherein K is the rolling mill modulus, pcIs a rolling force constant, p is a calculated rolling force, s is a roll gap value, s' is a correction factor for correcting the roll gap variation caused by the roll bending force, s0For zero position, s, during zeroingzFor the position of the roll gap during zeroing, CpIs a correction factor.
6) Calculating the rotating speed of the motor through a corresponding mathematical calculation formula, then calculating the voltage and the current according to the mathematical formula, and finally calculating the power balance and the rolling speed of each rack;
7) distinguishing whether the last frame is a rough roller or not by a mathematical formula for calculating the plastic deformation coefficient, and then calculating the plastic deformation coefficients of an inlet and an outlet in sequence
、
And coefficient of tension plasticity 。
8) According to the roll gap values of the front and the rear steel coils during the dynamic specification changing, the roll gap difference value of the front and the rear steel coils during the dynamic specification changing and the difference value (generally 0) of the roll gap variation between the low-speed shearing state and the dynamic specification changing state are calculated.
ds[0]=dsw[0]-dsb[0]
Wherein dsw 0 is the roll gap value of the next roll of strip steel of the #1 machine frame during dynamic specification changing, dsb 0 is the roll gap value of the current roll of strip steel of the #1 machine frame during dynamic specification changing. And ds 0 is the roller gap difference of the front and rear steel coils of the #1 machine frame during dynamic specification changing.
And after the dynamic roll gap compensation of the welding line at the inlet of the rolling mill is finished, performing dynamic roll gap compensation calculation again when the welding line passes through a thickness gauge at the outlet of the #1 rolling mill, the outlet of the #4 rolling mill and the outlet of the #5 rolling mill.
When a welding point passes through a rolling mill outlet thickness gauge, basic automation sends real-time data to a process control system, at the moment, dynamic self-adaptive calculation is firstly carried out, a dynamic rolling force coefficient and a forward slip value are obtained through calculation, collected actual data are checked, and the calculation flow is shown in figure 2; and then, setting calculation is carried out according to the calculation steps of the welding seam at the inlet of the rolling mill to obtain a dynamic roll gap compensation value, and the dynamic roll gap compensation value is issued to the basic automation.
The dynamic rolling force self-adaptive coefficient calculation steps are as follows:
a. collecting actual rolling parameters from a process control system at each mill outlet thickness gauge to obtain an actual rolling force paAnd simultaneously obtaining the calculated rolling force p according to the actual rolling parameterscaThen calculating to obtain the self-adaptive coefficient zp of the actual rolling forcea=pca/pa。
b. Adaptive coefficient zp of actual rolling forceaAnd feedback of the adaptive coefficient zp of rolling forcefPerforming exponential smoothing to obtain a new dynamic rolling force adaptive coefficient zp = zpf(1-ε)+zpa。
Where ε is an exponential balance factor, paFor actual rolling force, pcaTo calculate the rolling force, zpaAdaptive coefficient for actual rolling force, zpfFor feeding back the adaptive coefficient of rolling force, zp is the adaptive coefficient of dynamic rolling force.
And after the dynamic self-adaptive rolling force coefficient is obtained by using dynamic self-adaptive calculation, zp is used in model setting calculation to obtain a more accurate rolling force value.
p=pc×zp
Wherein,p is rolling force, pcZp is a dynamic rolling force adaptive coefficient for a calculated rolling force without using an adaptive coefficient.
Storing zp results in a dynamic setting table for dynamic setting at the exit of the #1, the exit of the #4 and the exit of the #5 rack. The dynamic self-adaptation can improve the setting precision of the roll gap variation during dynamic specification changing, has a parameter recording and analyzing function, and provides conditions for parameter optimization.
And after the dynamic self-adaptive calculation is finished, dynamic setting calculation is sequentially carried out at the outlets #1, #4 and #5 to carry out dynamic roll gap compensation. First, a set mathematical model is called to calculate rolling parameters such as rolling speed, tension, rolling force, flattening radius, roll gap and the like in various rolling states (a steady rolling state, a low-speed shearing state and a dynamic specification changing state), and a calculation flow chart is shown in fig. 3.
The calculated rolling parameter values are stored in a corresponding data file.
And finally, calculating the difference value of the roll gaps of the front and the rear steel coils during the dynamic specification changing and the difference value (which is generally 0) of the roll gap variation between the low-speed shearing state and the dynamic specification changing state according to the roll gap values of the front and the rear steel coils during the dynamic specification changing.
ds[0]=dsw[0]-dsb[0]
Wherein dsw 0 is the roll gap value of the next roll of strip steel of the #1 machine frame during dynamic specification changing, dsb 0 is the roll gap value of the current roll of strip steel of the #1 machine frame during dynamic specification changing. And ds 0 is the roller gap difference of the front and rear steel coils of the #1 machine frame during dynamic specification changing.
In order to evaluate the actual field use effect of the dynamic roll gap compensation method during dynamic specification changing, the average value, the maximum value and the minimum value of the head thickness deviation length and the tail thickness deviation length of 52 rolls of strip steel which do not use the dynamic roll gap compensation method and 57 rolls of strip steel which use the dynamic roll gap compensation method during dynamic specification changing are respectively calculated according to the actual measurement data of a thickness gauge, and the statistics on the head and tail thickness deviation lengths are carried out;
taking 3um as an evaluation index, respectively taking 50m at the head and 30m at the tail of each coiled strip steel before and after the optimized parameters are input, after finding a first over-tolerance point in the range, then taking 10m behind the point as a boundary, if the over-tolerance point appears in 10m, taking the last point in 10m as a next over-tolerance point, and repeating the calculation to find the last over-tolerance point in 50m at the head and 30m at the tail of the strip steel as the over-tolerance length of the coiled strip steel.
According to the method, the head-tail out-of-tolerance length of each selected coiled strip steel is calculated, and the maximum value, the minimum value and the average value of the out-of-tolerance lengths are calculated.
Through calculation and analysis of the length of the head-tail thickness out-of-tolerance of each steel coil before and after the optimization of the parameters, the following comparison results are obtained.
Longitudinal thickness difference and out-of-tolerance length comparison:
TABLE 1 comparison of strip steel longitudinal thickness difference and over-difference length data
(with 3um as standard)
Respectively calculating the transverse thickness difference data corresponding to each sampling period (200 ms) of 41 coils of strip steel before use and 48 coils of strip steel after use in the dynamic roll gap compensation method according to the actual measured data of the edge drop;
respectively calculating and calculating the maximum value, the minimum value, the average value and the mean square error of the transverse thickness difference data of each coil of strip steel in each sampling period before and after the dynamic roll gap compensation method is used;
respectively calculating the quality statistical results of the transverse thickness differences of the head, tail and whole of each coil of strip steel before and after the optimized parameters are input by taking 10um as an evaluation index, wherein the quality statistical results comprise a maximum value, a minimum value, an average value and a mean square error;
comparing and analyzing the quality statistical results;
TABLE 2 comparison of thickness difference and over-length data of transverse head of strip steel
(Standard 10 um)
From tables 1 and 2, it can be seen that the average values of the longitudinal thickness out-of-tolerance length and the transverse thickness out-of-tolerance length of the strip steel head can be reduced by 1.15m and 4.46m respectively by the dynamic roll gap compensation function during dynamic specification changing. The dynamic roll gap compensation function can be used to ensure that the control of the transverse thickness difference of the head of the strip steel is more stable from the mean square deviation of the transverse deviation of the head of the strip steel.
Claims (5)
1. A dynamic roll gap compensation method during cold continuous rolling dynamic specification changing is characterized in that: the process comprises the following steps:
(1) at the position of a thickness gauge in front of an inlet of a rolling mill section, original data is replaced by measured data, the model setting precision is improved, the roll gap difference of front and rear steel coils during dynamic specification changing is calculated, and the roll gap setting value is compensated;
(2) And calculating the dynamic rolling force coefficient and forward slip by dynamic self-adaptation at each outlet thickness gauge of the rolling mill according to real-time measurement data, improving the calculation precision of the rolling force, calculating the roll gap difference of the front and rear steel coils during variable specifications according to a set calculation model, and compensating the set value of the roll gap.
2. The dynamic roll gap compensation method according to claim 1, wherein the step (1) comprises the steps of:
firstly, measuring the actual inlet thickness H of the strip steel measured by a thickness meter at the inlet of a rolling mill sectionaReplacing the thickness H of the raw material, and obtaining the actual reduction rate according to the actual inlet thickness, wherein the pressure rates of the 2#, 3#, 4#, and 5# racks are unchanged;
and secondly, calculating steady-state high-speed, shearing low-speed and dynamic variable-specification rolling parameters in different rolling states by using a rolling force model, a rolling moment model, a rolling power model, a friction coefficient model, a deformation resistance model, a flattening radius model, a front sliding model, a roll gap calculation model and a plastic deformation coefficient model according to the obtained actual inlet thickness and the rolling reduction, and finally obtaining the roll gap difference value of the front steel coil and the rear steel coil in the dynamic variable-specification rolling state, and sending the roll gap difference value as a roll gap compensation value to an L1-level PLC control execution mechanism.
3. The dynamic roll gap compensation method according to claim 1, wherein the step (2) comprises the steps of:
step one, calculating to obtain a dynamic rolling force self-adaptive coefficient and a forward slip coefficient at each mill outlet thickness gauge according to actual rolling parameters collected from a process control system; the actual rolling parameters comprise actual strip steel thickness, rolling speed, rolling force, forward slip, roll gap and power;
and step two, recalculating rolling parameter values including rolling speed, rolling force and roll gap by using the dynamic adaptive coefficient in the rolling mathematical model, thereby dynamically compensating the roll gap value at the position of the frame outlet thickness gauge.
4. A dynamic roll gap compensation method according to claim 3, characterized in that the first step comprises the steps of:
a. outlet side of each rolling millCollecting actual rolling parameters from a process control system at a thickness gauge to obtain an actual rolling force paAnd simultaneously obtaining the calculated rolling force p according to the actual rolling parameterscaThen calculating to obtain the self-adaptive coefficient zp of the actual rolling forcea=pca/pa；
b. Adaptive coefficient zp of actual rolling forceaAnd feedback of the adaptive coefficient zp of rolling forcefPerforming exponential smoothing to obtain a new dynamic rolling force adaptive coefficient zp = zpf(1-ε)+zpa(ii) a Wherein epsilon is an exponential equilibrium factor;
c. the actual forward slip values for each stand are calculated based on the actual rolling parameters collected from the process control system.
5. A dynamic roll gap compensation method according to claim 3, characterized in that the rolling parameters calculated in the second step are calculated by the following steps and formulas, first checking whether the dynamic adaptive coefficients are within a reasonable range; then calculating friction coefficient, rolling force, flattening radius, rolling moment, rolling power and roll gap rolling parameters according to the rolling parameter model under the conditions of stable high-speed and low-speed shearing and dynamic variable specification different rolling states; and finally, obtaining the roll gap difference value of the front and the rear steel coils in the dynamic variable-specification rolling state, and sending the roll gap difference value as a roll gap compensation value to the basic automation.
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Address after: No. 1, Shimen Road, Shijingshan District, Beijing Co-patentee after: Hebei Shougang Qian'an Steel Co., Ltd. Patentee after: Beijing Shougang Automation Information Technology Co., Ltd Co-patentee after: Shougang Group Co. Ltd. Address before: No. 1, Shimen Road, Shijingshan District, Beijing Co-patentee before: Hebei Shougang Qian'an Steel Co., Ltd. Patentee before: Beijing Shougang Automation Information Technology Co., Ltd Co-patentee before: Capital Iron & Steel General Company |
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