Tension dynamic compensation method, system, device and medium applicable to reversible rolling mill

Abstract

The present invention provides a tension dynamic compensation method suitable for a reversible rolling mill, including step S1 of measuring and obtaining the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil; step S2 of calculating the moment of inertia of the coiler; step S3 of calculating the linear acceleration of the reversible rolling mill using a given speed; step S4 of calculating the angular acceleration of the reversible rolling mill to complete the dynamic tension compensation of the entire rolling process; step S5 of obtaining the dynamic torque by multiplying the moment of inertia and the angular acceleration; step S6 of calculating the code value equivalent of the dynamic torque to complete the transmission control; step S7 of analyzing the tension dynamic compensation effect of the entire process by using the inlet and outlet speed ratio analysis method. The present invention can greatly improve the tension control accuracy within the entire rolling process by providing full-process tension dynamic compensation for the reversible rolling mill, thereby improving the accuracy and stability of the mill outlet thickness within the entire process, reducing belt breakage accidents and improving productivity, with obvious effects.

Description

Technical Field

[0001] The invention relates to the technical field of cold rolling in the metallurgical industry, and in particular to a tension dynamic compensation method, system, device and medium applicable to a reversible rolling mill. Background Art

[0002] The reversible rolling mill unit is mainly composed of the main rolling mill and the left and right coiling mechanisms. The coilers on both sides of the rolling mill adopt torque limit control. The given torque of the coiler includes three parts: load torque, dynamic torque and mechanical loss torque. When the coiler is subjected to torque limit control, if the dynamic torque is ignored, it will inevitably affect the stability of the strip tension, directly affecting the thickness accuracy and stability of the exported strip. Therefore, the dynamic compensation of tension must be taken seriously and solved. Conventional tension dynamic compensation only cares about the tension dynamic compensation problem when the line speed changes, and ignores the tension dynamic compensation problem when the line speed remains unchanged, which leads to under-compensation at the unwinding end and over-compensation at the coiling end in the case of high line speed and small coil diameter.

[0003] After searching, the patent document CN103567230A discloses a micro-tension control system and method. During the hot rolling process, when the rolled piece enters the current frame and bites stably, the current frame is kept in speed control, and the speed control of the main motors of each upstream frame is converted to constant torque control, so as to sample the torque of the main motor of the current frame and the rolling force to calculate the initial length of the rolling force arm, thereby improving the accuracy of the tension measurement calculation. A pressure measuring head device is set on each frame to directly detect the rolling force. It is considered that the length of the rolling force arm varies with the size of the rolling force. Through the tension calculation model, the tension between the frames is obtained in real time, and a micro-tension closed-loop control is formed to adjust the frame speed to correct the tension deviation between the frames. However, the disadvantage of this prior art is that it is impossible to realize dynamic compensation of tension when the online speed changes, and it is also impossible to realize synchronous dynamic compensation of tension when the online speed does not change.

[0004] Therefore, there is an urgent need to develop and design a device and method that can dynamically compensate for tension of a reversible rolling mill throughout the entire process. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a tension dynamic compensation method, system, device, and medium suitable for a reversible rolling mill, which not only performs tension dynamic compensation when the line speed changes, but also performs tension dynamic compensation when the line speed does not change.

[0006] According to the present invention, a tension dynamic compensation method applicable to a reversible rolling mill comprises the following steps:

[0007] Step S1: measuring and obtaining the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil;

[0008] Step S2: Calculate the moment of inertia of the coiler;

[0009] Step S3: Calculating the linear acceleration of the reversible rolling mill using a given speed;

[0010] Step S4: Calculate the angular acceleration of the reversible rolling mill to complete dynamic tension compensation during the entire rolling process;

[0011] Step S5: obtaining dynamic torque by multiplying the moment of inertia and the angular acceleration;

[0012] Step S6: Calculate the code value equivalent of the dynamic torque to complete the transmission control;

[0013] Step S7: Analyze the full-process dynamic compensation effect of tension using the inlet and outlet speed ratio analysis method.

[0014] Preferably, the actual linear speed in step S1 adopts the actual linear speed of the left steering roller and the right steering roller; the actual rotation speed is obtained through the transmission interface data and the transmission ratio.

[0015] Preferably, the moment of inertia in step S2 includes a fixed moment of inertia and a variable moment of inertia, wherein the fixed moment of inertia includes the moment of inertia of the motor rotor and the moment of inertia of the mechanical transmission converted to the motor shaft, and the variable moment of inertia is related to the outer diameter, inner diameter, width and transmission ratio of the steel coil.

[0016] Preferably, in step S3, the digital quantity is directly used to gradually increase or decrease the speed and then directly sent to the transmission. For the convenience of calculation and the stability of dynamic compensation, it is approximately considered that the linear acceleration remains a constant during the acceleration and deceleration process. The constant maintained by the linear acceleration is calculated based on the maximum speed, the step digital quantity and the program scanning cycle.

[0017] Preferably, the precise calculation formula of the angular acceleration in step S4 is as follows:

[0018]

[0019]

[0020] Among them, the coiling takes a negative sign, k = 1; the uncoiling takes a positive sign, k = 0;

[0021] i: transmission ratio; D: coil diameter m; v: line speed Deceleration m / s 2 ;t 0 : Strip thickness m;

[0022] n: Motor speed in rpm.

[0023] Preferably, in step S5, the dynamic torque is equal to the product of the moment of inertia and the angular acceleration, and the positive and negative determination principles of the dynamic torque are as follows: unwinding deceleration is positive, unwinding acceleration is negative, winding acceleration is positive, and winding deceleration is negative.

[0024] Preferably, the code value equivalent in step S6 is the digital quantity of the dynamic torque in the transmission transmitted from the PLC end to U120.01 in the transmission through the network interface, and the digital quantity corresponding to the unit NM needs to be determined.

[0025] According to the present invention, a tension dynamic compensation system applicable to a reversible rolling mill is provided, comprising:

[0026] Module M1: Measure and obtain the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil;

[0027] Module M2: Calculate the moment of inertia of the coiler;

[0028] Module M3: Calculation of linear acceleration of the reversible rolling mill using a given speed;

[0029] Module M4: Calculate the angular acceleration of the reversible rolling mill to complete dynamic tension compensation throughout the rolling process;

[0030] Module M5: Dynamic torque is obtained by multiplying the moment of inertia and angular acceleration;

[0031] Module M6: Calculate the code value equivalent of dynamic torque to complete transmission control;

[0032] Module M7: Analyze the dynamic compensation effect of tension throughout the entire process using the inlet and outlet speed ratio analysis method.

[0033] According to a computer-readable storage medium storing a computer program provided by the present invention, the steps of the above method are implemented when the computer program is executed by a processor.

[0034] A tension dynamic compensation device applicable to a reversible rolling mill provided according to the present invention comprises the above-mentioned tension dynamic compensation system applicable to a reversible rolling mill or the above-mentioned computer-readable storage medium storing a computer program.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention solves the problems of measuring the diameter of the steel coil, calculating the moment of inertia, calculating the linear acceleration, calculating the angular acceleration, calculating the dynamic torque and how to apply the dynamic torque to the transmission, so that the present invention can not only perform dynamic compensation for the tension when the line speed changes, but also perform dynamic compensation for the tension when the line speed does not change.

[0037] 2. The present invention can greatly improve the tension control accuracy within the entire rolling range by providing full-range dynamic tension compensation for the reversible rolling mill, thereby improving the accuracy and stability of the mill outlet thickness within the entire range, reducing belt breakage accidents and improving productivity, with obvious effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0039] Figure 1 It is a flow chart of the steps of the tension dynamic compensation method applicable to the reversible rolling mill in the present invention;

[0040] Figure 2 It is a schematic diagram of the change of the inlet and outlet speed ratio before the dynamic compensation is put into use in the present invention;

[0041] Figure 3 It is a schematic diagram of the change of the inlet and outlet speed ratio after the dynamic compensation in the present invention is put into use. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0043] like Figure 1 , Figure 2 , Figure 3 As shown, the present invention provides a tension dynamic compensation method applicable to a reversible rolling mill, comprising the following steps:

[0044] Step S1: Measure and obtain the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil; wherein, the actual linear speed adopts the actual linear speed of the left steering roller and the right steering roller; the actual rotation speed is obtained through the transmission interface data and the transmission ratio.

[0045] Specifically, the accuracy of the steel coil diameter is of great significance for ensuring the correct calculation of the moment of inertia and angular acceleration. There are many methods for measuring the diameter of the steel coil. Conventionally, the actual linear speed and the actual rotational speed are directly divided to calculate the diameter of the steel coil. The measurement results show that the measurement error is about 10mm. The present invention uses two methods for measuring the diameter: the speed direct division method and the thickness conversion method. In the speed direct division method, the actual linear speed of the steering roller and the actual rotational speed of the coiling machine mandrel are calculated, and the actual steel coil diameter is calculated according to the calculation results. In the thickness conversion method, the actual number of coiling turns is obtained by performing an integral operation according to the number of cycle turns, and the actual steel coil diameter is calculated in combination with the given thickness and mandrel diameter. In the process of diameter change, the allowable change per cycle is taken into account, which avoids the large influence of a single measurement error on the final result, improves the accuracy of the coil diameter calculation, and the measured error is below 3mm, which meets the control requirements of the tension compensation function. Direction restriction is required when measuring the diameter, that is, the diameter can only decrease when unwinding and can only increase when winding. The actual linear speed is directly obtained from the actual linear speed of the left and right steering rollers. The actual rotational speed of the coiler is calculated as follows: the actual rotational speed of the motor is obtained through the transmission interface, and the angular velocity of the coiler mandrel is obtained through the transmission ratio.

[0046] Step S2: Calculate the moment of inertia of the coiler; the moment of inertia includes fixed moment of inertia and variable moment of inertia, wherein the fixed moment of inertia includes the moment of inertia of the motor rotor and the moment of inertia converted to the motor shaft by mechanical transmission, and the variable moment of inertia is related to the outer diameter, inner diameter, width and transmission ratio of the steel coil, and the specific calculation formula is as follows:

[0047]

[0048] Where, i: transmission ratio; ρ: density, ρ = 7.85 × 10 3 kg / m 3 ; B: strip width; D: outer diameter of steel coil; d: inner diameter of steel coil;

[0049] The fixed moment of inertia includes the motor rotor moment of inertia and the moment of inertia converted to the motor shaft by the mechanical transmission. The motor rotor moment of inertia can be found from the motor parameters. The moment of inertia on each transmission shaft must be converted to the motor shaft. The conversion method is to divide by the square of the transmission ratio.

[0050] Step S3: Calculate the linear acceleration of the reversible rolling mill using a given speed. The linear acceleration is calculated using a given speed. Since the digital quantity is directly used to gradually increase or decrease the speed and then directly sent to the transmission, for the convenience of calculation and the stability of dynamic compensation, it can be approximately considered that the linear acceleration remains a constant during the acceleration and deceleration process. The constant can be calculated based on the maximum speed, the step digital quantity and the program scanning cycle. Since there is a problem of input signal jitter during manual speed adjustment, the manual speed adjustment signal must be de-jittered. Since the mill entrance speed is less than the mill speed, and the mill speed is less than the exit speed but the difference is not large, for the convenience of calculation and without losing accuracy, it is considered that the exit acceleration is equal to the mill acceleration, and the entrance acceleration is equal to the mill acceleration multiplied by the pressure ratio.

[0051] Step S4: Calculate the angular acceleration of the reversible rolling mill to complete the dynamic tension compensation of the entire rolling process; the precise calculation formula of the angular acceleration is as follows:

[0052]

[0053]

[0054] Among them, the coiling takes a negative sign, k = 1; the uncoiling takes a positive sign, k = 0;

[0055] i: transmission ratio; D: coil diameter m; v: line speed Deceleration m / s 2 ;t 0 : Strip thickness m;

[0056] n: Motor speed in rpm.

[0057] In common design, ε is often 2 Ignore, however, the online acceleration is very low. In the late stage of unwinding or early stage of coiling, when the online speed is very high, ε 2 The size and ε 1 Compared with the previous example, even when the line acceleration is zero, the ε 2 The size of is also relatively large. 2 Considering the tension dynamic compensation, not only the dynamic compensation problem during acceleration and deceleration can be correctly realized, but also the dynamic compensation problem under stable operation conditions with zero online acceleration can be realized.

[0058] Step S5: The dynamic torque is obtained by multiplying the moment of inertia and the angular acceleration; the dynamic torque is equal to the product of the moment of inertia and the angular acceleration. The positive and negative determination principles of the dynamic torque are as follows: unwinding deceleration is positive, unwinding acceleration is negative, winding acceleration is positive, and winding deceleration is negative.

[0059] Step S6: Calculate the code value equivalent of the dynamic torque to complete the transmission control. The unit of the dynamic torque calculation result is NM, and the dynamic torque in the transmission is represented by a digital quantity, that is, 100% corresponds to 16384. The code value equivalent is the digital quantity of the dynamic torque in the transmission, which is transmitted from the PLC end to U120.01 in the transmission through the network interface. It is necessary to determine the digital quantity corresponding to the unit NM. For the convenience of calculation and without losing accuracy, it is assumed that the code value equivalent of the dynamic torque is the same as the code value equivalent of the load torque. During the operation of the unit, the tension digital quantity T at a certain moment is collected. dig (e.g. 8416), digital value of load torque in transmission M L (e.g. 0.472) and the diameter D calculated in the transmission (e.g. 0.918), the code value equivalent Q of the load torque is calculated based on these three parameters as follows:

[0060]

[0061] Among them, T max : Maximum tension KN; D max : Maximum diameter (mm); i: Transmission ratio.

[0062] After the dynamic torque digital quantity is calculated, it is sent to the transmission through the interface and occupies the K3003 position. In the transmission parameter U120.01, K3003 is connected, and the calculated dynamic compensation quantity enters the transmission and starts working.

[0063] Step S7: Analyze the dynamic compensation effect of tension throughout the process by using the inlet and outlet speed ratio analysis method. After the dynamic compensation of tension throughout the process, the thickness accuracy and stability of the outlet strip are greatly improved in the entire process. In order to evaluate the dynamic compensation effect of tension, when the unit is not equipped with a tension meter, it is necessary to correctly obtain the actual thickness deviation and record it in a curve. However, sometimes the direct value of the outlet thickness deviation cannot be obtained due to system configuration reasons. For this reason, the present invention proposes the following inlet and outlet speed ratio analysis method.

[0064] According to the second flow principle, let the inlet thickness be H, the outlet thickness be h, the inlet velocity be V, the outlet velocity be h, and ignore the expansion, then

[0065]

[0066] According to formula (4), the change of the inlet-outlet speed ratio reflects the change of the inlet-outlet thickness ratio. The unstable tension will inevitably lead to the instability of the inlet-outlet thickness ratio. In other words, the dynamic compensation effect of the tension can be reflected according to the deviation of the actual value of the inlet-outlet speed ratio relative to the set value, and the set value of the inlet-outlet speed ratio can be calculated according to the set value of the inlet-outlet thickness. Figure 1It reflects the change of the inlet and outlet speed ratio before dynamic compensation. It can be seen from the figure that the thickness is stable after 33.5s during the first acceleration period, the outlet thickness increases after 11.3s during the first deceleration period, and the thickness is stable after 22.2s during the second acceleration period. It can be seen that the time to enter the outlet thickness accuracy during the acceleration period is too long. Basically, the thickness accuracy during the entire acceleration period cannot meet the requirements, and the outlet thickness tends to increase during the deceleration period. Figure 2 It reflects the change of the inlet and outlet speed ratio after dynamic compensation. It can be seen from the figure that the outlet thickness accuracy meets the requirement after 7.0s during the first acceleration period, the outlet thickness accuracy has always met the requirement during the first deceleration period, and the outlet thickness accuracy meets the requirement after 7.5s during the second acceleration period. Compared with before the dynamic compensation was put into use, the outlet thickness accuracy has been greatly improved. During the first acceleration period, the time to meet the requirements of outlet thickness accuracy was reduced from 33.5s to 7.0s, a reduction of 26.5s. During the second acceleration period, the time to meet the requirements of outlet thickness accuracy was reduced from 33.5s to 7.5s, a reduction of 26s. During the deceleration period, the thickness accuracy reached the same accuracy as that during stable operation.

[0067] According to the present invention, a tension dynamic compensation system applicable to a reversible rolling mill is provided, comprising:

[0068] Module M1: Measure and obtain the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil;

[0069] Module M2: Calculate the moment of inertia of the coiler;

[0070] Module M3: Calculation of linear acceleration of the reversible rolling mill using a given speed;

[0071] Module M4: Calculate the angular acceleration of the reversible rolling mill to complete dynamic tension compensation throughout the rolling process;

[0072] Module M5: Dynamic torque is obtained by multiplying the moment of inertia and angular acceleration;

[0073] Module M6: Calculate the code value equivalent of dynamic torque to complete transmission control;

[0074] Module M7: Analyze the dynamic compensation effect of tension throughout the entire process using the inlet and outlet speed ratio analysis method.

[0075] According to a computer-readable storage medium storing a computer program provided by the present invention, the steps of the above method are implemented when the computer program is executed by a processor.

[0076] A tension dynamic compensation device applicable to a reversible rolling mill provided according to the present invention comprises the above-mentioned tension dynamic compensation system applicable to a reversible rolling mill or the above-mentioned computer-readable storage medium storing a computer program. Specific embodiment:

[0078] The present invention is implemented on a 1050mm cold rolling reversible rolling mill, the product thickness of which is below 0.3mm. Since the unit is not equipped with a tension meter, there is no actual outlet thickness data in the tension control PLC. The inlet and outlet speed ratio analysis method is used to evaluate the dynamic compensation effect.

[0079] When the present invention is specifically implemented, first, the actual linear speed and the actual rotation speed are directly divided to calculate the diameter of the steel coil. The actual linear speed is directly obtained by taking the actual linear speed of the left and right steering rollers, and the actual rotation speed of the coiler is obtained through the transmission interface data and the transmission ratio. The rotational inertia of the coiler includes two parts: a fixed rotational inertia and a variable rotational inertia. The fixed rotational inertia includes the rotational inertia of the motor rotor and the rotational inertia converted to the motor shaft by the mechanical transmission. The variable rotational inertia is related to the outer diameter, inner diameter, width and transmission ratio of the steel coil, and is calculated using formula (1). The linear acceleration is calculated using a given speed. For the convenience of calculation and the stability of dynamic compensation, it can be approximately considered that the linear acceleration remains a constant during the acceleration and deceleration process. Since there is a problem of input signal jitter during manual speed adjustment, the manual speed adjustment signal must be de-jittered. For the convenience of calculation and without losing accuracy, it is considered that the exit acceleration is equal to the mill acceleration, and the entrance acceleration is equal to the mill acceleration multiplied by the reduction ratio. Formula (2) is used to calculate the angular acceleration to achieve dynamic tension compensation throughout the rolling process. The dynamic torque is obtained by multiplying the moment of inertia and angular acceleration, and the code value equivalent is calculated using formula (3), thereby realizing transmission control. Since the unit is not equipped with a tension meter, there is no actual outlet thickness data in the tension control PLC. The inlet and outlet speed ratio analysis method is used to evaluate the dynamic compensation effect. Figure 1 It reflects the change of the inlet and outlet speed ratio before dynamic compensation. Figure 2 It reflects the change of the inlet and outlet speed ratio after dynamic compensation. It can be seen from the figure that the use of the full-range tension compensation technology proposed in this patent greatly improves the accuracy and stability of the inlet and outlet speed ratio and the outlet thickness of the strip, which shows that the stability of the inlet tension and outlet tension of the rolling mill has been greatly improved. All functions provided by the present invention are realized through PLC programming.

[0080] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0081] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0082] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A tension dynamic compensation method suitable for a reversible rolling mill, characterized in that: The steps include: Step S1: measuring and obtaining the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil; Step S2: Calculate the moment of inertia of the coiler; Step S3: Calculating the linear acceleration of the reversible rolling mill using a given speed; Step S4: Calculate the angular acceleration of the reversible rolling mill to complete dynamic tension compensation during the entire rolling process; The calculation formula for angular acceleration is as follows: Among them, the coiling takes a negative sign, k = 1; the uncoiling takes a positive sign, k = 0; i: transmission ratio; D: coil diameter m; v: line speed m / s; Deceleration m / s 2 ; t0: strip thickness m; n: motor speed rpm; Step S5: obtaining dynamic torque by multiplying the moment of inertia and the angular acceleration; Step S6: Calculate the code value equivalent of the dynamic torque to complete the transmission control; Step S7: Analyze the full-process dynamic compensation effect of tension using the inlet and outlet speed ratio analysis method; The step S6 calculates the code value equivalent Q of the load torque as follows: T dig To collect the digital value of tension at a certain moment; M L is the digital value of the load torque in the transmission; T max : Maximum tension KN; D max : Maximum diameter mm.

2. The tension dynamic compensation method applicable to a reversible rolling mill according to claim 1, characterized in that: The actual linear speed in step S1 adopts the actual linear speed of the left steering roller and the right steering roller; the actual rotation speed is obtained through the transmission interface data and the transmission ratio.

3. The tension dynamic compensation method applicable to a reversible rolling mill according to claim 1, characterized in that: The moment of inertia in step S2 includes a fixed moment of inertia and a variable moment of inertia, wherein the fixed moment of inertia includes the moment of inertia of the motor rotor and the moment of inertia converted to the motor shaft by mechanical transmission, and the variable moment of inertia is related to the outer diameter, inner diameter, width and transmission ratio of the steel coil.

4. The tension dynamic compensation method applicable to a reversible rolling mill according to claim 1, characterized in that: In step S3, the digital quantity is directly used to gradually increase or decrease the speed and then directly sent to the transmission. For the convenience of calculation and the stability of dynamic compensation, it is approximately considered that the linear acceleration remains a constant during the acceleration and deceleration process. The constant of the linear acceleration is calculated based on the maximum speed, the step digital quantity and the program scanning cycle.

5. The tension dynamic compensation method applicable to a reversible rolling mill according to claim 1, characterized in that: In step S5, the dynamic torque is equal to the product of the moment of inertia and the angular acceleration. The positive and negative determination principles of the dynamic torque are as follows: unwinding deceleration is positive, unwinding acceleration is negative, winding acceleration is positive, and winding deceleration is negative.

6. The tension dynamic compensation method applicable to a reversible rolling mill according to claim 1, characterized in that: The code value equivalent in step S6 is the digital quantity of the dynamic torque in the transmission, which is transmitted from the PLC end to U120.01 in the transmission through the network interface, and the digital quantity corresponding to the unit NM needs to be determined.

7. A tension dynamic compensation system suitable for a reversible rolling mill, characterized in that: include: Module M1: Measure and obtain the actual linear speed and actual rotation speed of the reversible rolling mill to calculate the diameter of the steel coil; Module M2: Calculate the moment of inertia of the coiler; Module M3: Calculation of linear acceleration of the reversible rolling mill using a given speed; Module M4: Calculate the angular acceleration of the reversible rolling mill to complete dynamic tension compensation throughout the rolling process; The calculation formula for angular acceleration is as follows: Among them, the coiling takes a negative sign, k = 1; the uncoiling takes a positive sign, k = 0; i: transmission ratio; D: coil diameter m; v: line speed m / s; Deceleration m / s 2 ; t0: strip thickness m; n: motor speed rpm; Module M5: Dynamic torque is obtained by multiplying the moment of inertia and angular acceleration; Module M6: Calculate the code value equivalent of dynamic torque to complete transmission control; Module M7: Analyze the dynamic compensation effect of tension throughout the process using the inlet and outlet speed ratio analysis method; The code value equivalent Q of the calculated load torque in module M6 is as follows: T dig To collect the digital value of tension at a certain moment; M L is the digital value of the load torque in the transmission; T max : Maximum tension KN; D max : Maximum diameter mm.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A tension dynamic compensation device suitable for a reversible rolling mill, characterized in that: It comprises the tension dynamic compensation system suitable for a reversible rolling mill as described in claim 7 or the computer-readable storage medium storing a computer program as described in claim 8.

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