Thickness control method for single-stand steckel mill

Abstract

The invention discloses a thickness control method for a single-stand steckel mill, which belongs to the field of metallurgical automation control and comprises the following steps: acquiring the distance between the steckel mill and an inlet side thickness gauge, the distance between the steckel mill and an outlet side multifunctional instrument, the rigidity of the mill in forward rotation and the rigidity of the mill in reverse rotation; whether the thickness difference detected by instruments on the two sides of the steckel mill is used for feedforward control or feedback control is determined; according to the running speed of the strip steel under the feed-forward control detection instrument and the distance between the feed-forward control detection instrument and the steekle mill, the roll gap feed-forward adjustment amount is calculated; according to the running speed of the strip steel under the feedback control detection instrument and the distance between the feedback control detection instrument and the steckel mill, the roll gap feedback adjustment amount is calculated; and calculating the final execution adjustment amount of the steekle mill roll gap in combination with the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount. The method solves the problem of thickness control in the reversible rolling process of the single-stand steckel mill, and has positive significance in improving the thickness control quality of the single-stand steckel mill.

Description

Technical Field

[0001] The invention relates to the technical field of metallurgical automation control, in particular to a thickness control method for a single-stand Steckel mill. Background Art

[0002] In a single-stand Steckel mill, an entry thickness gauge and an exit multi-function instrument are installed at the entry and exit sides of the mill, respectively, to detect the thickness, flatness, and other qualities of the strip during the reversible rolling process, and then act on the quality control of the reversible rolling process. In conventional rolling line thickness control, the detection data of the detection instrument after the last stand is generally used as the basis for feedback control. However, in the rolling process of a single-stand Steckel mill, the thickness difference detected by the detection instrument on the entry side during the reversible rolling process can be well used as the basis for feedforward control. Therefore, in the rolling process of a single-stand Steckel mill, the reasonable and effective application of feedforward and feedback adjustment amounts to roll gap control has a positive significance for improving the thickness control of the Steckel mill strip.

[0003] Currently, there is no solution in the art for single-stand rolling mills that combines forward and reverse stiffness to calculate feedforward and feedback adjustments, and then uses a weighted moving average to distribute and adjust these feedforward and feedback adjustments, thereby implementing a feedforward and feedback thickness control solution for the reversible rolling process of a single-stand Steckel mill. Patent application number CN114101337B proposes a thickness control method and apparatus for a single-stand reversible mill. The patent discloses a method for integrating AGCs to fully leverage the advantages of each AGC and further improve AGC control accuracy. A thickness scoring strategy is used to quantify control results, and a neural network-based self-optimization of the AGC influence coefficients is employed. Patent application number CN109877164B proposes a method and device for controlling the thickness of a cold rolling mill in seconds based on fuzzy control. The method discloses a method of first using a second flow equation to precalculate the outlet thickness of the strip, and using an outlet thickness gauge to measure the thickness and make corrections to obtain the outlet thickness difference; then the outlet thickness difference is divided into several fuzzy levels, and the membership value is obtained using a Gaussian membership function; fuzzy rules and adaptive coefficients are set to respectively obtain the control quantities of proportional control and integral control, and finally synthesize the second flow AGC control quantity.

[0004] In summary, in the existing technology, there is a lack of a method for calculating the feedforward and feedback adjustment amounts in combination with the forward and reverse stiffness for a single-stand rolling mill, and using a weighted moving average method to distribute and adjust the feedforward and feedback adjustment amounts, so as to realize a feedforward and feedback thickness control scheme during the reversible rolling process of a single-stand steckel mill to solve the thickness quality problem during the reversible rolling process of a single-stand steckel mill. Summary of the Invention

[0005] The present invention provides a thickness control method for a single-stand Steckel mill, which solves the technical problem of controlling thickness quality according to thickness differences measured by inlet and outlet detection instruments during the reversible rolling process of the single-stand Steckel mill.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In one aspect, the present invention provides a single-stand Steckel mill thickness control method, the method comprising:

[0008] (1) Obtain the distance between the Steckel mill and the thickness gauge on the inlet side, the distance between the Steckel mill and the multi-function instrument on the outlet side, the stiffness of the mill when it rotates forward, and the stiffness of the mill when it rotates reverse;

[0009] (2) According to the different rolling passes of the Steckel mill, determine whether the thickness difference detected by the instrument on both sides of the Steckel mill is used for feedforward control or feedback control;

[0010] (3) Calculating the feedforward adjustment amount of the roll gap based on the running speed of the strip under the feedforward control detection instrument and the distance between the feedforward control detection instrument and the Steckel mill;

[0011] (4) Calculating the roll gap feedback adjustment amount based on the running speed of the strip under the feedback control detection instrument and the distance between the feedback control detection instrument and the Steckel mill;

[0012] (5) Calculating the final execution adjustment amount of the roll gap of the Steckel mill by combining the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount.

[0013] Furthermore, step (1) includes: taking the coiling and transporting direction of the Steckel mill as the rolling direction of the mill, obtaining the distance between the Steckel mill and the thickness gauge on the inlet side, the distance between the Steckel mill and the multi-function instrument on the outlet side, the mill stiffness when the rotation direction of the Steckel mill roll is in the same direction as the rolling direction of the mill, and the mill stiffness when the rotation direction of the Steckel mill roll is in the opposite direction to the rolling direction of the mill.

[0014] Furthermore, step (2) is specifically as follows: the single-stand Steckel mill adopts a reciprocating reversible rolling method;

[0015] When the rolled strip passes through the detection instrument first and then through the rolling mill, the detection instrument is used for feedforward control;

[0016] When the rolled strip passes through the rolling mill first and then through the detection instrument, the detection instrument is used for feedback control.

[0017] Furthermore, step (3) includes:

[0018] (3.1) Based on the strip running speed, the distance between the feedforward control instrument and the Steckel mill, the time required for the strip to reach the mill at the feedforward instrument position is calculated to obtain the timing for the thickness difference measured by the feedforward instrument to act on the mill roll gap control;

[0019] (3.2) Calculate the roll gap adjustment required to eliminate the actual thickness difference based on the thickness difference measured by the feedforward control detection instrument, the rolling mill stiffness, and the plasticity of the rolled piece.

[0020] Furthermore, step (3.1) includes:

[0021] Divide the distance lf from the feedforward control detection instrument to the Steckel mill into n equal parts, with the length of each part being lf / n;

[0022] When the strip passes under the feedforward control detection instrument, the linear speed v of the roller is s , the strip slides back S, and calculates the length l that the strip passes under the detection instrument s , the calculation formula is:

[0023] l s =v s ×(1-S)×t;

[0024] Among them, l s v is the length of the strip passing under the detection instrument; s is the linear speed of the roller; S is the strip slip; t is the rolling time;

[0025] When the strip passes the length l below the detection instrument s Every time the length lf / n is reached, the current thickness difference detected by the feedforward control detection instrument is stored;

[0026] Determine the length l that the strip passes under the detection instrument s Whether the distance reaches the distance lf from the feedforward control detection instrument to the Steckel mill, if it reaches it, then the length l s When the length of each portion reaches lf / n again, the actual thickness difference measured by the stored feedforward control detection instrument is read once.

[0027] Furthermore, in step (3.2), the formula for calculating the roll gap adjustment amount required to eliminate the measured thickness difference is:

[0028]

[0029] Among them, S fxmn is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control detection instrument, that is, the roll gap feedforward adjustment amount; x fdev is the thickness difference measured by the feedforward control instrument; k pis the weight coefficient for calculating the roll gap adjustment amount; M is the rolling mill stiffness. If the current pass is an odd pass, it is the forward stiffness of the rolling mill, otherwise it is the reverse stiffness of the rolling mill; K is the plasticity of the rolled piece; S f is the plasticity correction coefficient of the rolled piece; v s is the linear speed of the roll; S is the strip slip; TA is the controller execution cycle time; lf is the distance from the feedforward control detection instrument to the Steckel mill.

[0030] Furthermore, step (4) includes:

[0031] The roll gap adjustment amount required to eliminate the measured thickness difference is calculated based on the strip running speed, the distance between the feedback control detection instrument and the Steckel mill, the thickness difference measured by the feedback control detection instrument, the rolling mill stiffness, the plasticity of the rolled piece, etc.

[0032] Furthermore, the formula for calculating the roll gap adjustment amount required to eliminate the measured thickness difference is:

[0033]

[0034] Among them, S bxmn The roll gap adjustment amount is calculated based on the thickness difference measured by the feedback control detection instrument, and the roll gap feedback adjustment amount is x. bdev The thickness difference measured by the feedback control instrument; k pb is the weight coefficient for calculating the roll gap adjustment amount; M is the rolling mill stiffness. If the current pass is an odd pass, it is the forward stiffness of the rolling mill, otherwise it is the reverse stiffness of the rolling mill; K is the plasticity of the rolled piece; S f is the plasticity correction coefficient of the rolled piece; v s is the linear speed of the roll; S′ is the forward slip of the strip; TA is the execution cycle time of the controller; lb is the distance from the feedback control detection instrument to the Steckel mill.

[0035] Furthermore, step (5) includes: designing different weights according to the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount of the Steckel mill, and calculating the final execution adjustment amount of the roll gap.

[0036] Furthermore, different weights are designed according to the roll gap feedforward adjustment amount and roll gap feedback adjustment amount of the Steckel mill, and the formula for calculating the final roll gap adjustment amount is:

[0037]

[0038] Among them, S t xmn Final adjustment for the roll gap;

[0039] b1 is the weight of the feedforward adjustment and feedback adjustment of the Steckel mill;

[0040] α1 Roll gap adjustment amount S calculated based on the thickness difference measured by the feedforward control detection instrumentfxmn Exponential weighted moving average coefficient; α2 Roll gap adjustment S calculated based on the thickness difference measured by the feedback control detection instrument bxmn Exponentially weighted moving average coefficient;

[0041] A 0 fxmn Calculate the roll gap adjustment value S for the thickness difference measured by the feedforward control detection instrument fxmn The result is calculated after weighted moving average at the starting time; S 0 fxmn A is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control instrument at the initial moment; t fxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedforward control detection instrument. t fxmn Calculated result after exponential weighted moving average; S t fxmn A is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control instrument at time t; t-1 fxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedforward control detection instrument at time t-1. t-1 fxmn Calculated result after exponentially weighted moving average;

[0042] A 0 bxmn Calculate the roll gap adjustment S for the thickness difference measured by the feedback control instrument bxmn The result is calculated after weighted moving average at the starting time; S 0 bxmn To calculate the roll gap adjustment amount at the initial moment based on the thickness difference actually measured by the feedback control instrument;

[0043] A t bxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedback control detection instrument. t bxmn Calculated result after exponential weighted moving average; S t bxmn A is the calculated roll gap adjustment amount based on the thickness difference measured by the feedback control instrument at time t; t-1 bxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedback control instrument at time t-1. t-1 bxmn The result is calculated after exponentially weighted moving average.

[0044] On the other hand, the present invention further provides an electronic device, comprising a processor and a memory; wherein the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement the above method.

[0045] In yet another aspect, the present invention further provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the above method.

[0046] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0047] The method provided by the present invention solves the problem of uneven thickness control caused by low temperatures at the head and tail of the strip and a large temperature difference with the body during the reversible rolling process of a single-stand Steckel mill. Through the weighted optimization method of feedforward control and feedback control, the hysteresis of single feedback control can be compensated, and the disadvantage of being unable to make timely corrections when the strip is ultra-thick or ultra-thin can be compensated. At the same time, the compensation of feedback control can also compensate for the characteristics of high model accuracy and strict time synchronization of feedforward control. The combination of the two has positive significance for improving rolling stability and improving the quality of head and tail thickness control. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 1 is a flow chart of a thickness control method for a single-stand Steckel mill provided by an embodiment of the present invention;

[0050] Figure 2 1 is a schematic diagram of the first rolling pass of a thickness control method for a single-stand Steckel mill provided by an embodiment of the present invention;

[0051] Figure 3 1 is a schematic diagram of non-first and non-last rolling passes of a thickness control method for a single-stand Steckel mill provided by an embodiment of the present invention;

[0052] Figure 4 is a system block diagram of an electronic device provided by an embodiment of the present invention;

[0053] Explanation of the accompanying symbols: 21. Thickness gauge on the inlet side of the Steckel mill; 22. Multi-function instrument on the outlet side of the Steckel mill; 31. Coiling furnace on the inlet side of the Steckel mill; 32. Steckel mill; 33. Coiling furnace on the outlet side of the Steckel mill. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0055] First, it should be noted that in the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplarily" is intended to present concepts in a concrete manner. In addition, in the embodiments of the present invention, the meaning of "and / or" can be both or either of the two.

[0056] First embodiment: This embodiment provides a single-stand Steckel mill thickness control method, which obtains the distance between the Steckel mill and the inlet-side thickness gauge and the distance between the Steckel mill and the outlet-side multi-function instrument, the stiffness of the mill during forward rotation, and the stiffness of the mill during reverse rotation; according to different rolling passes of the Steckel mill, determines whether the thickness difference detected by the instruments on both sides of the Steckel mill is used for feedforward control or feedback control; calculates the roll gap feedforward adjustment amount based on the running speed of the strip under the feedforward control detection instrument and the distance between the feedforward control detection instrument and the Steckel mill; calculates the roll gap feedback adjustment amount based on the running speed of the strip under the feedback control detection instrument and the distance between the feedback control detection instrument and the Steckel mill; and calculates the final execution adjustment amount of the roll gap of the Steckel mill by combining the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount.

[0057] The execution process of this method is as follows Figure 1 As shown, the following steps are included:

[0058] S1, obtain the distance between the Steckel mill and the thickness gauge on the inlet side, the distance between the Steckel mill and the multi-function instrument on the outlet side, the stiffness of the mill when it is rotating forward, and the stiffness of the mill when it is rotating reverse;

[0059] Specifically, in this embodiment, the above S1 includes the following steps:

[0060] Take the coiling and transporting direction of the Steckel rolling line as the rolling direction of the rolling line, and obtain the distance X between the Steckel rolling mill and the thickness gauge on the entrance side. I , in m, and the distance X between the Steckel mill and the multifunctional instrument at the exit side O , unit is m, the stiffness of the rolling mill when it is rotating forward is M f , unit is ton / mm, the stiffness M of the rolling mill when it is reversed b , unit is ton / mm.

[0061] S2, according to different rolling passes of the Steckel mill, determines whether the thickness difference detected by the instrument on both sides of the Steckel mill is used for feedforward control or feedback control;

[0062] Specifically, in this embodiment, the above S2 includes the following steps:

[0063] Since the single-stand Steckel mill adopts a reciprocating reversible rolling method, when the rolled strip first passes through the detection instrument and then passes through the rolling mill, the detection instrument is used for feedforward control;

[0064] When the rolled strip passes through the rolling mill first and then through the detection instrument, the detection instrument is used for feedback control.

[0065] S3, calculating the roll gap feedforward adjustment amount according to the running speed of the strip under the feedforward control detection instrument and the distance between the feedforward control detection instrument and the Steckel mill;

[0066] Specifically, in this embodiment, the above S3 includes the following steps: according to the running speed of the strip, the distance between the feedforward control detection instrument and the Steckel mill, calculating the time required for the strip to reach the rolling mill at the position of the feedforward detection instrument, so as to obtain the timing for the thickness difference measured by the feedforward detection instrument to act on the roll gap control of the rolling mill; according to the thickness difference measured by the feedforward control detection instrument, the rolling mill stiffness, and the plasticity of the rolled piece, calculating the roll gap adjustment amount required to eliminate the measured thickness difference.

[0067] S31, calculates the time when the thickness difference strip position currently measured by the feedforward control detection instrument reaches the Steckel mill, which is used for roll gap adjustment:

[0068] The distance lf from the feedforward control detection instrument to the Steckel mill is divided into n equal parts, that is, the length of each part is lf / n. When the strip passes under the feedforward control detection instrument, the linear speed v of the roll is s , the strip slides back S, and calculates the length l that the strip passes under the detection instrument s , when passing through length l s When each length lf / n is reached, the current thickness difference detected by the instrument is stored; the thickness difference after the length l is determined. s Whether the distance reaches the distance lf from the feedforward control detection instrument to the furnace coil mill, if it reaches it, then the length l s When the length of each portion reaches lf / n again, the actual thickness difference measured by the stored feedforward control detection instrument is read once.

[0069] The calculation formula for the length of the strip passing under the detection instrument is:

[0070] l s =v s ×(1-S)×t

[0071] Among them, l s v is the length of the strip passing under the detection instrument; s is the linear speed of the roller; S is the strip slip; t is the rolling time.

[0072] S32, based on the thickness difference measured by the feedforward control detection instrument, the rolling mill stiffness, the rolled product plasticity, etc., the roll gap adjustment amount required to eliminate the thickness difference is calculated as follows:

[0073]

[0074] Among them, S fxmn To calculate the roll gap adjustment amount based on the thickness difference measured by the feedforward control detection instrument, the unit is mm; x fdev is the thickness difference measured by the feedforward control instrument, in mm; k p To calculate the weight coefficient of the roll gap adjustment, the value range is 0~1; M is the rolling mill stiffness, the unit is ton / mm. If the current pass is an odd pass, it is the rolling mill forward stiffness M f , otherwise it is the rolling mill reversal stiffness M b ; K is the plasticity of the rolled piece, unit is ton / mm; S f is the plasticity correction coefficient of the rolled piece; v s is the roller linear speed, in m / s; S is the strip slip; TA is the controller execution cycle time, in ms, with a value range of 2 to 16; lf is the distance from the feedforward control detection instrument to the Steckel mill, in m.

[0075] S4, calculating the roll gap feedback adjustment amount according to the running speed of the strip under the feedback control detection instrument and the distance between the instrument and the Steckel mill;

[0076] Specifically, in this embodiment, the above S4 includes the following steps:

[0077] The roll gap adjustment required to eliminate the thickness difference is calculated based on the strip running speed, the distance between the feedback control detection instrument and the Steckel mill, the thickness difference measured by the feedback control detection instrument, the rolling mill stiffness, the plasticity of the rolled piece, etc.

[0078] The formula for calculating the roll gap adjustment required to eliminate the thickness difference detected by the feedback control instrument is:

[0079]

[0080] Among them, S bxmn To calculate the roller gap adjustment amount based on the thickness difference measured by the feedback control detection instrument, the unit is mm; x bdev The actual thickness difference measured by the feedback control instrument is in mm; k pb To calculate the weight coefficient of the roll gap adjustment, the value range is 0~1; M is the rolling mill stiffness, the unit is ton / mm. If the current pass is an odd pass, it is the rolling mill forward stiffness M f , otherwise it is the rolling mill reversal stiffness M b ; K is the plasticity of the rolled piece, unit is ton / mm; S f is the plasticity correction coefficient of the rolled piece; v sis the linear speed of the roller, in m / s; S′ is the forward slip of the strip; TA is the controller execution cycle time, in ms, with a value range of 2 to 16; lb is the distance from the feedback control detection instrument to the Steckel mill, in m;

[0081] S5, combining the feedforward adjustment amount and the feedback adjustment amount to calculate the final execution adjustment amount of the roll gap of the Steckel mill.

[0082] Specifically, in this embodiment, the above S5 includes the following steps:

[0083] According to the feedforward adjustment amount and feedback adjustment amount of the Steckel mill, different weights are designed to calculate the final execution adjustment amount of the roll gap.

[0084] The formula for calculating the final roll gap adjustment amount by designing different weights is:

[0085]

[0086] Among them, S t xmn To calculate the final roll gap adjustment amount for different design weights, the unit is mm; b1 is the weight of the feedforward adjustment amount and feedback adjustment amount of the Steckel mill; α1 is the roll gap adjustment amount S calculated by the actual thickness difference measured by the feedforward control detection instrument fxmn Exponential weighted moving average coefficient; α2 feedback control detection instrument measured thickness difference calculation roller gap adjustment amount S bxmn Exponentially weighted moving average coefficient, the value range is 0 to 1; A 0 fxmn Calculate the roll gap adjustment value S for the thickness difference measured by the feedforward control detection instrument fxmn The result is calculated after weighted moving average at the starting time, in mm; S 0 fxmn A is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control instrument at the start time, in mm; t fxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedforward control detection instrument. t fxmn Calculated result after exponential weighted moving average, unit is mm; S t fxmn A is the calculated roll gap adjustment amount at time t based on the thickness difference actually measured by the feedforward control instrument, in mm; t-1 fxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedforward control detection instrument at time t-1. t-1 fxmn Calculated result after exponential weighted moving average, unit is mm; A 0 bxmnCalculate the roll gap adjustment S for the thickness difference measured by the feedback control instrument bxmn The result is calculated after weighted moving average at the starting time, in mm; S 0 bxmn The calculated roll gap adjustment amount at the initial moment based on the thickness difference measured by the feedback control instrument, in mm; A t bxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedback control detection instrument. t bxmn Calculated result after exponential weighted moving average, unit is mm; S t bxmn The calculated roll gap adjustment amount at time t based on the thickness difference measured by the feedback control instrument, in mm; A t-1 bxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedback control instrument at time t-1. t-1 bxmn The result calculated after exponentially weighted moving average, the unit is mm.

[0087] Next, a single-stand Steckel mill thickness control method of the present invention is applied to a hot rolling production line to further illustrate the implementation process of a single-stand Steckel mill thickness control method of the present invention. Specifically, in this application scenario, the method of the present invention is operated according to the following steps:

[0088] (1) Obtain the distance between the Steckel mill and the thickness gauge on the inlet side, the distance between the Steckel mill and the multi-function meter on the outlet side, the stiffness of the mill when it is rotating forward, and the stiffness of the mill when it is rotating reverse; according to Figure 2 As shown in the figure, the distance between the Steckel mill and the thickness gauge on the inlet side is 3m, and the distance between the Steckel mill and the multi-function instrument on the outlet side is 4m. The stiffness of the mill is 500ton / mm when it rotates forward, and 510ton / mm when it rotates reversely.

[0089] (2) According to the different rolling passes of the Steckel mill, determine whether the thickness difference detected by the instruments on both sides is used for feedforward control or feedback control; take the total rolling passes of the Steckel mill as an example: in the first pass, the entry coiling furnace is the feedforward control detection instrument, and the exit coiling furnace is the feedback control detection instrument; in the second pass, the exit coiling furnace is the feedforward control detection instrument, and the entry coiling furnace is the feedback control detection instrument; in the last pass, the entry coiling furnace is the feedforward control detection instrument, and the exit coiling furnace is the feedback control detection instrument.

[0090] (3) Calculate the feedforward adjustment amount of the roll gap based on the running speed of the strip under the feedforward control detection instrument and the distance between the instrument and the Steckel mill;

[0091] Taking the first pass as an example, the distance lf from the feedforward control instrument to the Steckel mill is 3m. Divide this distance into 10 equal parts, i.e., each part is 0.3m long. When the strip passes under the feedforward control instrument, based on the strip roll linear speed of 1m / s and the backslip of 0.08, calculate the length l of the strip passing under the instrument. s , unit is m,

[0092] The calculation formula for the length of the strip passing under the detection instrument is:

[0093] l s =v s ×(1-S)×t

[0094] When the length l s When each length reaches 0.3m, the instrument will detect the current thickness difference and store it; s Whether the distance reaches the feedforward control detection instrument to the furnace coil mill distance 3m, if reached, then the length l s When the length of each section reaches 0.3m again, the actual thickness difference of the strip steel originally stored is read once.

[0095] The formula for calculating the roll gap adjustment required to eliminate the thickness difference based on the actual thickness difference measured by the feedforward control detection instrument, the rolling mill stiffness, the rolled piece plasticity, etc. is as follows:

[0096]

[0097] Taking the first pass at time t1 as an example, the relevant data results are shown in Table 1 below:

[0098] Table 1: Taking the first pass at time t1 as an example, the relevant data results of the roll gap feedforward adjustment amount

[0099] <![CDATA[S fxmn ]]> <![CDATA[x fdev ]]> <![CDATA[k p ]]> <![CDATA[M f ]]> K <![CDATA[v s ]]> <![CDATA[S f ]]> S TA lf 0.0005 0.2 1.0 500.0 500.0 2.0 0.9 0.05 2.0 3.0

[0100] (4) Calculate the roll gap feedback adjustment amount based on the running speed of the strip under the feedback control detection instrument and the distance between the instrument and the Steckel mill;

[0101] The formula for calculating the roll gap adjustment required to eliminate the thickness difference detected by the feedback control instrument is:

[0102]

[0103] Taking the first pass at time t1 as an example, the relevant data results are shown in Table 2 below:

[0104] Table 2: Taking the first pass at time t1 as an example, the results of the roll gap feedback adjustment amount

[0105] <![CDATA[S bxmn ]]> <![CDATA[x bdev ]]> <![CDATA[k pb ]]> <![CDATA[M f ]]> K <![CDATA[v s ]]> <![CDATA[S f ]]> S′ TA lb 0.0002 0.1 1.0 500.0 500.0 2.0 0.9 0.08 2.0 4.0

[0106] (5) Calculate the final execution adjustment of the roll gap of the Steckel mill by combining the feedforward adjustment and the feedback adjustment;

[0107] The formula for calculating the final roll gap adjustment amount by designing different weights is:

[0108]

[0109] Taking the first pass at time t1 as an example, the relevant data results are shown in Table 3 below:

[0110] Table 3: Results of the final roll gap adjustment data

[0111] <![CDATA[α1]]> <![CDATA[α2]]> <![CDATA[b1]]> <![CDATA[S t fxmn ]]> <![CDATA[S t bxmn ]]> <![CDATA[A t fxmn ]]> <![CDATA[A t bxmn ]]> <![CDATA[S t xmn ]]> 0.9 0.9 0.2 0.0005 0.0002 0.00049 0.00019 0.000259

[0112] In summary, this embodiment provides a thickness control method for a single-stand Steckel mill. The method obtains the distance between the Steckel mill and the inlet-side thickness gauge, the distance between the Steckel mill and the outlet-side multi-function meter, the mill stiffness during forward rotation, and the mill stiffness during reverse rotation. Based on the different rolling passes of the Steckel mill, the method determines whether the thickness difference detected by the instruments on both sides is used for feedforward control or feedback control. The method calculates the roll gap feedforward adjustment based on the running speed of the strip under the instrument used for feedforward control and the distance between the instrument and the Steckel mill. The method calculates the roll gap feedback adjustment based on the running speed of the strip under the instrument used for feedback control and the distance between the instrument and the Steckel mill. The method combines the feedforward adjustment and the feedback adjustment to calculate the final roll gap adjustment of the Steckel mill. This invention solves the thickness control problem during the reversible rolling process of a single-stand Steckel mill and has positive significance for improving the thickness control quality of a single-stand Steckel mill.

[0113] Second embodiment: This embodiment provides an electronic device, such as Figure 3 As shown, the electronic device includes: a processor and a memory; wherein the processor and the memory can be connected via a communication bus; the memory stores at least one instruction, which is loaded and executed by the processor to implement the method of the first embodiment described above. In addition, the electronic device may also include a transceiver; the processor and the transceiver can be connected via a communication bus, and the transceiver is used to communicate with other devices.

[0114] Next, combine Figure 3 The following is a detailed introduction to the various components of the electronic equipment:

[0115] Among them, the processor is the control center of the electronic device, and the electronic device may include multiple processors, each of which may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here can be a processor or a general term for multiple processing elements. For example, the processor is one or more central processing units (CPUs), or other general-purpose processors, application specific integrated circuits (ASICs), or one or more integrated circuits configured to implement an embodiment of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor can perform various functions of the electronic device by running or executing software programs stored in the memory and calling data stored in the memory.

[0116] In a specific implementation, as an embodiment, the processor may include one or more CPUs, such as Figure 3 The CPU0 and CPU1 shown in FIG are, of course, only exemplary.

[0117] The memory is used to store the software program for executing the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0118] Optionally, the memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor or exist independently and accessed through the interface circuit ( Figure 3 (not shown) is coupled to the processor, which is not specifically limited in this embodiment of the present invention.

[0119] The transceiver may include a receiver and a transmitter ( Figure 3 The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function. The transceiver can be integrated with the processor or exist independently and communicate with the electronic device through the interface circuit ( Figure 3 (not shown) is coupled to the processor, which is not specifically limited in this embodiment of the present invention.

[0120] In addition, it should be noted that Figure 3 The structure of the electronic device shown in the figure does not constitute a limitation on the device. The actual device may include more or fewer components than shown, or may combine certain components, or arrange the components differently. In addition, the technical effects achieved by the electronic device when executing the method of the first embodiment can refer to the technical effects described in the first embodiment above, and therefore will not be repeated here.

[0121] Third embodiment: This embodiment provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the method of the first embodiment described above. The computer-readable storage medium may be a ROM, random access memory, CD-ROM, magnetic tape, floppy disk, or optical data storage device. The instructions stored therein can be loaded by a processor in a terminal to execute the method described above.

[0122] Furthermore, it should be noted that the present invention may be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention may take the form of a fully or partially hardware embodiment, a fully or partially software embodiment, or an embodiment combining software and hardware aspects. Furthermore, when implemented using software, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired connection (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium. The semiconductor medium may be a solid state drive.

[0123] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0125] It should also be noted that, in this document, relational terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or terminal device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of other identical elements in the process, method, article, or terminal device comprising the element. In addition, the term "and / or" is merely a description of an associative relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: the presence of A alone, the presence of A and B simultaneously, or the presence of B alone, where A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding. "At least one" means one or more, and "more" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0126] In addition, it can be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0127] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0128] In the several embodiments provided herein, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of functional modules / units is merely a logical functional division. In actual implementation, other division methods may be used, such as multiple units or components being combined or integrated into another device, or some features being ignored or not implemented. Furthermore, the coupling or direct coupling or communication connection shown or discussed between each other may be through some interface, indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs. In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0129] If the method is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0130] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. It should be noted that, although preferred embodiments of the present invention have been described, those skilled in the art, once understanding the basic inventive concepts of the present invention, may make various improvements and modifications without departing from the principles of the present invention. Such improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as covering the preferred embodiments and all variations and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A thickness control method for a single-stand Steckel mill, characterized in that: The method comprises: (1) Obtain the distance between the Steckel mill and the thickness gauge on the inlet side, the distance between the Steckel mill and the multi-function instrument on the outlet side, the stiffness of the mill when it rotates forward, and the stiffness of the mill when it rotates reverse; (2) According to the different rolling passes of the Steckel mill, determine whether the thickness difference detected by the instrument on both sides of the Steckel mill is used for feedforward control or feedback control; (3) Calculating the feedforward adjustment amount of the roll gap based on the running speed of the strip under the feedforward control detection instrument and the distance between the feedforward control detection instrument and the Steckel mill; (4) Calculating the roll gap feedback adjustment amount based on the running speed of the strip under the feedback control detection instrument and the distance between the feedback control detection instrument and the Steckel mill; (5) Calculating the final execution adjustment amount of the roll gap of the Steckel mill by combining the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount.

2. A single-stand Steckel mill thickness control method according to claim 1, characterized in that: Step (1) includes: taking the coiling and transporting direction of the Steckel rolling line as the rolling direction of the rolling line, obtaining the distance between the Steckel rolling mill and the thickness gauge on the inlet side, the distance between the Steckel rolling mill and the multi-function instrument on the outlet side, the rolling mill stiffness when the rotation direction of the Steckel rolling mill roll is in the same direction as the rolling direction of the rolling line, and the rolling mill stiffness when the rotation direction of the Steckel rolling mill roll is in the opposite direction to the rolling direction of the rolling line.

3. The thickness control method of a single-stand Steckel mill according to claim 1, characterized in that: Step (2) is specifically as follows: the single-stand Steckel mill adopts a reciprocating reversible rolling method; When the rolled strip passes through the detection instrument first and then through the rolling mill, the detection instrument is used for feedforward control; When the rolled strip passes through the rolling mill first and then through the detection instrument, the detection instrument is used for feedback control.

4. A single-stand Steckel mill thickness control method according to claim 1, characterized in that: Step (3) comprises: (3.1) Based on the strip running speed, the distance between the feedforward control instrument and the Steckel mill, the time required for the strip to reach the mill at the feedforward instrument position is calculated to obtain the timing for the thickness difference measured by the feedforward instrument to act on the mill roll gap control; (3.2) Calculate the roll gap adjustment required to eliminate the actual thickness difference based on the thickness difference measured by the feedforward control detection instrument, the rolling mill stiffness, and the plasticity of the rolled piece.

5. A single-stand Steckel mill thickness control method according to claim 4, characterized in that: Step (3.1) includes: Divide the distance lf from the feedforward control detection instrument to the Steckel mill into n equal parts, with the length of each part being lf / n; When the strip passes under the feedforward control detection instrument, the linear speed v of the roller is s , the strip slides back S, and calculates the length l that the strip passes under the detection instrument s , the calculation formula is: l s =v s ×(1-S)×t; Among them, l s v is the length of the strip passing under the detection instrument; s is the linear speed of the roller; S is the strip slip; t is the rolling time; When the strip passes the length l below the detection instrument s Every time the length lf / n is reached, the current thickness difference detected by the feedforward control detection instrument is stored; Determine the length l that the strip passes under the detection instrument s Whether the distance reaches the distance lf from the feedforward control detection instrument to the Steckel mill, if it reaches it, then the length l s When the length of each portion reaches lf / n again, the actual thickness difference measured by the stored feedforward control detection instrument is read once.

6. A thickness control method for a single-stand Steckel mill according to claim 4, characterized in that: In step (3.2), the formula for calculating the roll gap adjustment amount required to eliminate the measured thickness difference is: Among them, S fxmn is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control detection instrument, that is, the roll gap feedforward adjustment amount; x fdev is the thickness difference measured by the feedforward control instrument; k p is the weight coefficient for calculating the roll gap adjustment amount; M is the rolling mill stiffness. If the current pass is an odd pass, it is the forward stiffness of the rolling mill, otherwise it is the reverse stiffness of the rolling mill; K is the plasticity of the rolled piece; S f is the plasticity correction coefficient of the rolled piece; v s is the linear speed of the roll; S is the strip slip; TA is the controller execution cycle time; lf is the distance from the feedforward control detection instrument to the Steckel mill.

7. The thickness control method of a single-stand Steckel mill according to claim 1, characterized in that: Step (4) comprises: The roll gap adjustment amount required to eliminate the measured thickness difference is calculated based on the strip running speed, the distance between the feedback control detection instrument and the Steckel mill, the thickness difference measured by the feedback control detection instrument, the rolling mill stiffness, the plasticity of the rolled piece, etc.

8. A thickness control method for a single-stand Steckel mill according to claim 7, characterized in that: The formula for calculating the roll gap adjustment amount required to eliminate the measured thickness difference is: Among them, S bxmn The roll gap adjustment amount is calculated based on the thickness difference measured by the feedback control detection instrument, and the roll gap feedback adjustment amount is x. bdev The thickness difference measured by the feedback control instrument; k pb is the weight coefficient for calculating the roll gap adjustment amount; M is the rolling mill stiffness. If the current pass is an odd pass, it is the forward stiffness of the rolling mill, otherwise it is the reverse stiffness of the rolling mill; K is the plasticity of the rolled piece; S f is the plasticity correction coefficient of the rolled piece; v s is the linear speed of the roll; S′ is the forward slip of the strip; TA is the execution cycle time of the controller; lb is the distance from the feedback control detection instrument to the Steckel mill.

9. The thickness control method of a single-stand Steckel mill according to claim 1, characterized in that: Step (5) includes: designing different weights according to the roll gap feedforward adjustment amount and the roll gap feedback adjustment amount of the Steckel mill, and calculating the final execution adjustment amount of the roll gap.

10. A thickness control method for a single-stand Steckel mill according to claim 9, characterized in that: According to the roll gap feedforward adjustment amount and roll gap feedback adjustment amount of the Steckel mill, different weights are designed, and the formula for calculating the final roll gap adjustment amount is: Among them, S t xmn Final adjustment for the roll gap; b1 is the weight of the feedforward adjustment and feedback adjustment of the Steckel mill; α1 Roll gap adjustment amount S calculated based on the thickness difference measured by the feedforward control detection instrument fxmn Exponential weighted moving average coefficient; α2 Roll gap adjustment S calculated based on the thickness difference measured by the feedback control detection instrument bxmn Exponentially weighted moving average coefficient; A 0 fxmn Calculate the roll gap adjustment value S for the thickness difference measured by the feedforward control detection instrument fxmn The result is calculated after weighted moving average at the starting time; S 0 fxmn A is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control instrument at the initial moment; t fxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedforward control detection instrument. t fxmn Calculated result after exponential weighted moving average; S t fxmn A is the roll gap adjustment amount calculated based on the thickness difference measured by the feedforward control instrument at time t; t-1 fxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedforward control detection instrument at time t-1. t-1 fxmn Calculated result after exponential weighted moving average; A 0 bxmn Calculate the roll gap adjustment S for the thickness difference measured by the feedback control instrument bxmn The result is calculated after weighted moving average at the starting time; S 0 bxmn To calculate the roll gap adjustment amount at the initial moment based on the thickness difference actually measured by the feedback control instrument; A t bxmn At time t, the controller calculates the roll gap adjustment amount S according to the thickness difference measured by the feedback control detection instrument. t bxmn Calculated result after exponential weighted moving average; S t bxmn A is the calculated roll gap adjustment amount based on the thickness difference measured by the feedback control instrument at time t; t-1 bxmn The controller calculates the roll gap adjustment value S at time t-1 based on the thickness difference measured by the feedback control detection instrument at time t-1. t-1 bxmn The result is calculated after exponentially weighted moving average.

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