Strip steel plate shape control method and device, medium and program product

Abstract

The invention provides a strip steel plate shape control method and device, a medium and a program product, and the method comprises the steps: determining an effective measurement region actually covered by the strip steel width according to the strip steel width and a plate shape roller measurement region; obtaining a tension value vector of the effective measurement area; determining a weight factor of each effective measurement area to obtain a weight factor vector; according to the weight factor vector, converting the tension value vector into a corresponding strip shape actual value curve, and according to the strip shape setting curve, determining a strip shape relative error vector; according to the plate shape relative error vector and a preset adjusting quantity over-limit value, a penalty function method is used for setting a target function of plate shape control multivariable optimization; and using a quasi-Newton method to iteratively calculate and obtain the optimal adjusting quantity of the next control period of the plate shape control, wherein the optimal adjusting quantity is the plate shape control adjusting quantity which enables the value of the target function to be smaller than a preset minimum value. By means of the technical scheme, the calculation precision of the optimization adjusting amount can be improved under the condition that the online calculation amount is not remarkably increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic control of cold rolling mill, in particular to a strip shape control method, device, medium and program product. BACKGROUND

[0002] In the automatic control system of cold rolling mill, the strip shape control index is one of the important indexes of product quality. Modern cold rolling strip production line is equipped with advanced strip shape control means, and the unit with relatively strict requirements on the strip shape index will be configured with a contact type strip shape roller to accurately measure the radial tension of the passing strip, and through conversion, the real-time strip shape signal can be obtained. The strip shape closed-loop feedback control system calculates the deviation between the actual strip shape and the target strip shape according to the online detected strip shape signal, further calculates the control output of the strip shape adjusting mechanism required to eliminate the deviation, so that the rolling mill continuously, dynamically and real-timely adjusts the strip shape of the strip in the rolling process, and finally makes the strip product have a stable and good strip shape.

[0003] At present, most of the strip shape feedback control systems adopt direct inversion operation algorithm, which can meet the requirements of real-time control due to small amount of operation, but the direct inversion algorithm is sensitive to model error and may lead to unstable system. There is also an algorithm using singular value decomposition of efficacy coefficient matrix, which can improve the calculation accuracy compared with the direct inversion method, and is less sensitive to model error, but the operation amount is several times larger, which significantly increases the online calculation burden of the control system. In this case, a strip shape control method is needed which can further improve the calculation accuracy of the optimized adjustment amount without significantly increasing the online calculation amount. SUMMARY

[0004] Embodiments of the present application provide a strip shape control method, device, medium and program product to improve the calculation accuracy of the optimized adjustment amount without significantly increasing the online calculation amount.

[0005] To achieve the above-mentioned purpose, in one aspect, a control method of strip shape is provided, comprising: S1, determining an effective measurement area actually covered by the strip width according to the strip width and the pre-divided strip shape roller measurement area, the effective measurement area comprising a non-edge measurement area and an effective edge measurement area, the effective edge measurement area being an edge measurement area with a strip coverage rate greater than a predetermined coverage rate threshold; S2, obtaining a tension value vector of the effective measurement area, the tension value vector comprising a strip tension measurement value of the non-edge measurement area and a compensated strip tension measurement value of the effective edge measurement area; wherein the compensated strip tension measurement value of the effective edge measurement area = the actual strip tension measurement value of the area / the strip coverage rate of the area; S3, determining weight factors of each effective measurement area to obtain a weight factor vector, wherein: weight factor of effective measurement area = width factor of the area x edge factor of the area; wherein, the width factor and the edge factor of the area are pre-set, and the width factor of the area is proportional to the width of the area, and the edge factor of the effective edge area is greater than the edge factor of the non-edge area; S4, converting the tension value vector into a corresponding plate shape actual value curve according to the weight factor vector, and determining a plate shape relative error vector according to a plate shape setting curve, wherein:

[0006]

[0007]

[0008] wherein, H is the thickness of the strip, is the elastic modulus of the strip, is the corresponding plate shape actual value curve, is the plate shape setting curve, is the plate shape error curve of the kth control period, is the error value of the kth control period, is the error value of the kth control period, is the average value of the plate shape error, is the plate shape relative error vector of the kth control period, is the total number of effective measurement areas; S5, setting a target function of plate shape control multivariable optimization using a penalty function method according to the plate shape relative error vector and a predetermined adjustment amount over-limit value; the adjustment amount over-limit value includes: a maximum stroke adjustment amount of the adjustment mechanism and a maximum single adjustment amount of the plate shape roll rotation for one circle; wherein:

[0009]

[0010]

[0011]

[0012] wherein, U(k) is an adjustment amount vector composed of the plate shape control adjustment amount of each adjustment mechanism at the kth moment; is the target function for U(k); is an initial adjustment amount vector composed of the initial adjustment amount of each adjustment mechanism; is a maximum stroke adjustment amount vector composed of the maximum stroke adjustment amount of each adjustment mechanism; is a first penalty factor, which is a predetermined positive number greater than a predetermined value; is a first penalty amount; is a second penalty amount; is a second penalty factor, which is a predetermined positive number greater than a predetermined value; is a single adjustment maximum value vector composed of single adjustment maximum values of each adjustment mechanism; denotes a norm of a vector; is an efficiency coefficient matrix of each adjustment mechanism of the strip shape, is an efficiency coefficient of the first adjustment mechanism in the first measurement area, and so on, is an efficiency coefficient of the mth adjustment mechanism in the measurement area, m being the total number of adjustment mechanisms in the strip shape control; S6, the optimal adjustment amount of the strip shape control in the next control period is iteratively calculated using a quasi-Newton method, the optimal adjustment amount being a strip shape control adjustment amount that makes the value of the objective function less than a predetermined minimum value.

[0013] Preferably, the strip shape control method further comprises: performing adaptive processing and amplitude limiting on the optimal adjustment amount of the strip shape control to obtain a final adjustment amount in the next control period after the kth control period and outputting the final adjustment amount to the adjustment mechanism for adjustment; wherein the adaptive processing and amplitude limiting are performed using the following formula:

[0014]

[0015] is an adaptive gain factor of the next control period; is a gain coefficient vector composed of fixed gain coefficients of each adjustment mechanism; is an adaptive factor of the strip shape error in the next control period, which is directly proportional to the strip shape error; is a speed adaptive factor of the next control period, which is inversely proportional to the strip speed; is an amplitude limiting operation for limiting the calculated adjustment amount within the single adjustment maximum value of each adjustment mechanism.

[0016] Preferably, the strip shape control method further comprises: when the calculated final adjustment amount ​If there are one or more regulating mechanisms with an adjustment amount less than the predetermined minimum adjustment amount, no adjustment will be made to the one or more regulating mechanisms in the next control cycle.

[0017] Preferably, in the plate shape control method, the adaptive factor of the plate shape error and the adaptive factor of the speed are calculated based on the plate shape error using a linear interpolation method.

[0018] Preferably, in the plate shape control method, the effective measurement area has at least two different area widths; the width factor of the area with the smallest area width in the effective measurement area is set to 1, and the width factor of the areas with other area widths is set to the ratio of the area width of the area to the area with the smallest width.

[0019] Preferably, the plate shape control method sets the edge factor of the non-edge region to 1, and sets the edge factor of the effective edge region to a predetermined value greater than 1.

[0020] On the other hand, a control device in the shape of a steel plate is also provided, including a memory and a processor, wherein the memory stores at least one program, which is executed by the processor to implement the steps of the control method as described in any of the above questions.

[0021] Preferably, the control device in the form of a steel plate is a PLC.

[0022] In another aspect, a computer-readable storage medium is also provided, characterized in that the storage medium stores at least one program, which is executed by a processor to implement the steps of any of the control methods described above.

[0023] In another aspect, a computer program product is also provided, comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of any of the control methods described above.

[0024] The above technical solution has the following technical effects: The technical solution of this invention improves the accuracy of the current plate shape determination and the accuracy of the determined plate shape relative error vector by considering different widths of the measurement area and whether it belongs to the side region when determining the actual value curve of the current plate shape based on the tension value, and by compensating for the side region. This improves the accuracy of subsequent optimization control. In addition, this invention transforms the constrained optimization problem into an unconstrained optimization problem by using the penalty function method, reducing the amount of computation in solving the optimization problem and improving the convergence speed of the optimization calculation. Thus, it improves the calculation accuracy of the optimization adjustment without significantly increasing the amount of online computation. Moreover, the use of the quasi-Newton method for optimization calculation results in less computation per iteration while maintaining high accuracy, making it suitable for operation on the PLC controller in the field and meeting the real-time requirements of the field.

[0025] In a further embodiment of the present invention, adaptive processing and amplitude limiting of the optimization calculation results are performed to improve the adaptability under various working conditions and ensure that the adjustment amount is executable, thereby further improving the plate shape feedback control quality of the cold rolling mill. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating a method for controlling the shape of a strip steel plate according to an embodiment of the present invention. Detailed Implementation

[0027] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0028] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0029] Example 1: Figure 1 This is a flowchart illustrating a method for controlling the shape of a strip steel plate according to an embodiment of the present invention. Figure 1 The method for controlling the shape of the strip in this embodiment includes: S1. Based on the strip width and the pre-divided plate roll measurement area, determine the effective measurement area actually covered by the strip width. The effective measurement area includes: non-edge measurement area and effective edge measurement area. The effective edge measurement area is the edge measurement area where the strip coverage rate is greater than the predetermined coverage rate threshold. In one specific implementation, the measurement area numbers on both sides covered by the strip and the total number of measurement areas covered are determined based on the strip width and the distribution of the measurement area of ​​the plate roll.

[0030] Taking a certain type of contact plate roller as an example, this plate roller is divided into several measurement areas along its width. The measurement areas have two widths: the central measurement area is wider, while some measurement areas on the sides are narrower. The measurement areas are numbered starting from the operating side, with the outermost measurement area on the operating side being area number 1. The numbering gradually increases towards the drive side, with the outermost measurement area on the drive side having the largest number. Let this value be... Each measurement area has a piezoelectric sensor that converts the applied strip tension into an electrical signal, which is then sent to the PLC controller. The actual measurement area covered by the strip, including partially covered areas, can be calculated based on the strip width. Let the first covered measurement area on the operating side be numbered as... The first measurement area covered on the transmission side is numbered as follows: Then the total number of measurement areas covered by the strip steel .

[0031] S2, obtain the tension value vector of the effective measurement area. The tension value vector includes: the strip tension measurement value of the non-edge measurement area and the compensated strip tension measurement value of the effective edge measurement area; wherein, the compensated strip tension measurement value of the effective edge measurement area = the actual strip tension measurement value of the area / the strip coverage of the area; In practice, for the edge measurement area, the strip steel generally cannot completely cover it, but only partially. A coverage threshold is preset. Only when the strip width coverage rate in the edge area is greater than or equal to this threshold is the edge area determined as a valid measurement area, meaning its actual tension measurement value is valid. Conversely, edge areas with a coverage rate less than the threshold are determined as invalid measurement areas, meaning their tension measurement values ​​are invalid. For example, the coverage threshold is greater than 0.3 and less than 1; preferably, the coverage threshold is greater than 0.5 and less than 1.

[0032] The measured values ​​from the two side edge measurement areas cannot be used directly and need to be compensated. The compensated tension measurement value for the edge area is obtained by dividing the measured values ​​of the operating side edge area and the transmission side edge area by the width coverage of that area.

[0033] For all measurement areas, after excluding invalid measurement areas, the final number of valid measurement areas is obtained. And the tension measurement values ​​after compensation in the two side edge areas.

[0034] S3, determine the weight factor of each effective measurement region and obtain the weight factor vector, where: the weight factor of the effective measurement region = the width factor of the region × the edge factor of the region; where the width factor and edge factor of the region are preset, and the width factor of the region is proportional to the width of the region, and the edge factor of the effective edge region is greater than the edge factor of the non-edge region. In one specific implementation, let the weight factor vector of the effective measurement region be... The value of the weighting factor is related to the width of the measurement area and whether it is a peripheral area, i.e. , For the measurement area Width factor, =1… The measurement area has different widths. When the measurement area is narrow, the width factor is 1.0. When the measurement area is wide, the width factor is the ratio of the width of the area to the width of the narrower area. The factor is the edge factor. When the measurement area is the middle area, the factor is 1.0. When the measurement area is several edge areas, the factor takes a value greater than 1.0. Preferably, the factor is a value between 2.0 and 3.0.

[0035] In one specific implementation, the measurement area includes two different widths: the measurement area on both sides is narrower, while the measurement area in the middle is wider; in other implementations, the entire measurement area uses the same width.

[0036] S4, based on the weighting factor vector, convert the tension value vector into the corresponding actual plate shape curve, and determine the plate shape relative error vector based on the plate shape setting curve, where:

[0037]

[0038]

[0039] In the formula, H is the thickness of the strip. The elastic modulus of the strip steel. This is the corresponding actual value curve of the plate shape. Set a curve for the plate shape. This is the plate shape error curve for the k-th control cycle. For the k-th control cycle Error value of each effective measurement area This represents the average value of the plate shape error. Let be the plate shape relative error vector for the k-th control cycle. The total number of valid measurement areas; in, ; The plate shape value corresponding to the i-th effective measurement area on the pre-set plate shape setting curve; S5. Based on the relative error vector of the plate shape and the predetermined adjustment amount over-limit value, the objective function of the multivariate optimization of the plate shape control is set using the penalty function method; the adjustment amount over-limit value includes: the maximum stroke adjustment amount of the adjustment mechanism and the maximum value of the single adjustment amount when the plate shape roller rotates one revolution; in:

[0040]

[0041]

[0042]

[0043] Wherein, U(k) is the adjustment vector composed of the plate shape control adjustment of each adjustment mechanism at time k; Let U(k) be the objective function; The initial adjustment vector is formed by the initial adjustment amounts of each adjustment mechanism; The maximum stroke adjustment vector is formed by the maximum stroke adjustment of each adjustment mechanism. The first penalty factor is a predetermined positive number that is greater than the predetermined value, i.e., it is a large positive number; The first penalty amount; This is the second penalty amount; The second penalty factor is a predetermined positive number that is greater than the predetermined value, i.e., it is a large positive number; This is a vector of maximum single-adjustment values ​​formed by the maximum single-adjustment values ​​of each adjustment mechanism. Represents the magnitude of a vector; This is the efficiency coefficient matrix for each adjustment mechanism of the plate shape. This is the efficiency coefficient of the first regulating mechanism in the first measurement region, and so on. For the m-th regulating mechanism in The efficiency coefficient in each measurement area, where m is the total number of regulating mechanisms in plate movement control; In practical implementation, since the stroke of each adjusting mechanism in the plate shape control is limited, the obtained plate shape control quantity cannot exceed its respective stroke limit. Therefore, when setting the objective function for plate shape optimization, a penalty function is used to penalize adjustments exceeding the maximum stroke of the adjusting mechanism. This penalty is achieved through the aforementioned... This can be achieved through a specific item.

[0044] The initial adjustment vector, including the initial adjustment of each adjustment mechanism of the plate shape control, is provided by the secondary system of the cold rolling mill. The maximum stroke adjustment vector includes: the stroke limit of each adjustment mechanism of the plate shape control, i.e., the maximum stroke adjustment of each adjustment mechanism.

[0045] Furthermore, since one control cycle of the plate shape control is the time required for the plate shape roller to rotate one revolution, and since the adjustment speed of the adjustment mechanism is limited, the stroke that can be moved within one control cycle is also limited. Therefore, a penalty function is used to penalize the adjustment amount that exceeds the maximum adjustment amount in a single operation, specifically through the above... This can be achieved through a specific item.

[0046] The vector of maximum single adjustment amount includes: the maximum single adjustment amount of each adjustment mechanism of the plate shape control.

[0047] for The transpose of . The initial value is obtained in advance through multiple tests during the plate shape control debugging, and is corrected using a self-learning algorithm during plate shape control operation. The optimization goal of plate shape control is to find the plate shape control adjustment amount that makes the objective function as small as possible, such as less than a predetermined minimum value.

[0048] S6. Use the quasi-Newton method to iteratively calculate the optimal adjustment amount for the next control cycle of the plate shape control. The optimal adjustment amount is the plate shape control adjustment amount that makes the value of the objective function less than a predetermined minimum value. In one specific implementation, the quasi-Newton method used is the BFGS algorithm.

[0049] This step employs a quasi-Newton method to solve the unconstrained nonlinear optimization problem, using gradient estimation to approximate the minimum value. One specific implementation includes:

[0050] In the formula, , which is the plate shape control adjustment amount for the next control cycle after the k-th control cycle; To determine the step size for iterative calculations, a line search method is used to find a step size value that satisfies the Wolfe condition, ensuring that the objective function decreases sufficiently in each iteration and avoiding excessively small step sizes. For the objective function exist gradient at; for An approximate Hessian quasi-matrix of dimension , with initial values The identity matrix is ​​updated in each iteration using the following formula:

[0051] In the formula, , .

[0052] S302. Set the iteration termination condition and obtain the optimized plate shape control quantity.

[0053] In practice, since the optimized adjustment amount must be obtained within one control cycle, a maximum number of iterations is preset. And the tolerance of iteration stopping That is, the predetermined minimum value. During the iterative calculation process, if the value of the objective function is less than or equal to... If the iteration stops, the adjustment value obtained at that time is output. If the iteration continues... The value of the secondary objective function is still greater than If the iteration stops, the adjustment value obtained at that time is output; This represents the optimal adjustment amount for the next control cycle obtained from the calculation.

[0054] Preferably, the plate shape control method of this embodiment further includes: adaptively processing and limiting the optimal adjustment amount of plate shape control to obtain the final adjustment amount for the next control cycle after the k-th control cycle. and the final adjustment amount The output is sent to the regulating mechanism for adjustment; The following formula is used for adaptive processing and amplitude limiting:

[0055]

[0056] This is the adaptive gain factor for the next control cycle; This is a vector of gain coefficients composed of the fixed gain coefficients of each adjustment mechanism; This is an adaptive factor for the plate shape error in the next control cycle, and its value is proportional to the plate shape error. In one specific implementation, the larger the plate shape error, the larger the factor becomes. Several value points are given by the secondary system of the cold rolling mill, and it is calculated by linear interpolation based on the plate shape error when in use. This is the speed adaptive factor for the next control cycle, and its value is inversely proportional to the strip speed. In one specific implementation, the faster the strip speed, the smaller the factor becomes. It is also calculated using linear interpolation. For amplitude limiting calculation, used to calculate the adjustment amount The adjustment is limited to the maximum value of each adjustment mechanism in a single operation, so that the adjustment amount output to the adjustment mechanism has exceeded the maximum value of the single adjustment. The limit.

[0057] Furthermore, when the calculated final adjustment amount If one or more regulating mechanisms have an adjustment amount less than a predetermined minimum adjustment amount, then no adjustment will be made to the one or more regulating mechanisms in the next control cycle. In one specific implementation, a minimum adjustment amount vector is set. , Indicates that for the first If the calculated adjustment amount of a certain adjustment mechanism is less than its corresponding minimum adjustment amount, then that adjustment mechanism will not make any adjustment in the current control cycle.

[0058] This allows us to determine the optimal plate shape control adjustment amount. This multivariable optimization plate shape control method can be achieved by implementing corresponding adjustments through various regulating mechanisms.

[0059] Example 2: The present invention also provides a control device in the shape of a steel plate, comprising a memory and a processor. The memory stores at least one program, which is executed by the processor to implement the control method embodiments described above. Preferably, the control device in the shape of a steel plate is a PLC.

[0060] The control device can be a computer unit, which may be a desktop computer, laptop, handheld computer, or cloud server, among other computing devices. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0061] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0062] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0063] Example 3: The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the methods described in the embodiments of the present invention.

[0064] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0065] Example 4: The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps described above.

[0066] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for controlling the shape of a strip steel plate, characterized in that, include: S1. Based on the strip width and the pre-divided plate roll measurement area, determine the effective measurement area actually covered by the strip width. The effective measurement area includes: non-edge measurement area and effective edge measurement area. The effective edge measurement area is the edge measurement area where the strip coverage is greater than a predetermined coverage threshold. S2, obtain the tension value vector of the effective measurement area, the tension value vector includes: the strip tension measurement value of the non-edge measurement area and the compensated strip tension measurement value of the effective edge measurement area; wherein, the compensated strip tension measurement value of the effective edge measurement area = the actual strip tension measurement value of the area / the strip coverage of the area; S3, determine the weight factor of each effective measurement region and obtain the weight factor vector, where: the weight factor of the effective measurement region = the width factor of the region × the edge factor of the region; where the width factor and edge factor of the region are preset, and the width factor of the region is proportional to the width of the region, and the edge factor of the effective edge region is greater than the edge factor of the non-edge region. S4, based on the weighting factor vector, the tension value vector is converted into the corresponding actual plate shape curve, and based on the plate shape setting curve, the plate shape relative error vector is determined, wherein: In the formula, H is the thickness of the strip. The elastic modulus of the strip steel. The corresponding actual value curve of the plate shape, Set a curve for the plate shape. This is the plate shape error curve for the k-th control cycle. For the k-th control cycle Error value of each effective measurement area This represents the average value of the plate shape error. Let be the plate shape relative error vector for the k-th control cycle. The total number of valid measurement areas; S5, based on the relative error vector of the plate shape and the predetermined adjustment amount exceeding the limit, the objective function for multivariate optimization of plate shape control is set using the penalty function method; the adjustment amount exceeding the limit includes: the maximum stroke adjustment amount of the adjustment mechanism and the maximum single adjustment amount of one rotation of the plate shape roller; in: Wherein, U(k) is the adjustment vector composed of the plate shape control adjustment of each adjustment mechanism at time k; Let U(k) be the objective function; This is the initial adjustment vector composed of the initial adjustment amounts of each adjustment mechanism; The maximum stroke adjustment vector is formed by the maximum stroke adjustment of each adjustment mechanism. The first penalty factor is a predetermined positive number that is greater than the predetermined value; The first penalty amount; This is the second penalty amount; The second penalty factor is a predetermined positive number that is greater than the predetermined value; This is a vector of maximum single-adjustment values ​​formed by the maximum single-adjustment values ​​of each adjustment mechanism. Represents the magnitude of a vector; This is the efficiency coefficient matrix for each adjustment mechanism of the plate shape. This is the efficiency coefficient of the first regulating mechanism in the first measurement region, and so on. For the m-th regulating mechanism in The efficiency coefficient in each measurement area, where m is the total number of regulating mechanisms in plate movement control; S6. Use the quasi-Newton method to iteratively calculate the optimal adjustment amount for the next control cycle of the plate shape control. The optimal adjustment amount is the plate shape control adjustment amount that makes the value of the objective function less than a predetermined minimum value.

2. The plate shape control method according to claim 1, characterized in that, Also includes: The optimal adjustment amount of the plate shape control is adaptively processed and limited to obtain the final adjustment amount for the next control cycle after the k-th control cycle. and the final adjustment amount The output is sent to the regulating mechanism for adjustment; The following formula is used for adaptive processing and amplitude limiting: The adaptive gain factor for the next control cycle; This is a vector of gain coefficients composed of the fixed gain coefficients of each adjustment mechanism; This is an adaptive factor for the plate shape error in the next control cycle, and its value is proportional to the plate shape error. The speed adaptive factor for the next control cycle is inversely proportional to the strip speed. For amplitude limiting calculation, used to calculate the adjustment amount It is limited to the maximum value of a single adjustment by each regulating mechanism.

3. The plate shape control method according to claim 2, characterized in that, Also includes: When the calculated final adjustment amount If there are one or more regulating mechanisms with an adjustment amount less than the predetermined minimum adjustment amount, no adjustment will be made to the one or more regulating mechanisms in the next control cycle.

4. The plate shape control method according to claim 1, characterized in that, The adaptive factor for plate shape error and the adaptive factor for speed are calculated based on the plate shape error using a linear interpolation method.

5. The plate shape control method according to claim 1, characterized in that, The effective measurement area has at least two different area widths; the width factor of the area with the smallest area width in the effective measurement area is set to 1, and the width factor of the areas with other area widths is set to the ratio of the area width of the area to the area with the smallest width.

6. The plate shape control method according to claim 1, characterized in that, Set the edge factor of non-edge regions to 1, and set the edge factor of effective edge regions to a predetermined value greater than 1.

7. A control device with a steel plate shape, characterized in that, It includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the steps of the control method as described in any one of claims 1 to 6.

8. The plate shape control device according to claim 7, characterized in that, The plate shape control device is a PLC.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one program segment, which is executed by a processor to implement the steps of the control method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method as described in any one of claims 1 to 6.

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