Looping condition detection method, apparatus, computer equipment and storage medium

Abstract

This invention provides a method, apparatus, computer equipment, and storage medium for looper condition detection, relating to the field of iron and steel smelting. The looper condition detection method includes: obtaining the friction torque based on the looper's damping test; when the friction torque is greater than or equal to a preset torque threshold, performing a step test on the looper and obtaining the step response duration based on the step test; when the step response duration is greater than or equal to a preset step response duration, performing a pressure holding test on the looper and obtaining the pressure change value of the hydraulic cylinder based on the pressure holding test; and determining whether the looper is in an internal leakage state based on the pressure change value and a preset pressure change threshold. This invention's looper condition detection method enables precise pre-detection of the looper's condition, reducing the probability of accidents and improving rolling mill efficiency and production benefits.

Description

Technical Field

[0001] This invention relates to the field of iron and steel smelting, and more specifically, to a method, apparatus, computer equipment, and storage medium for detecting the condition of loopers. Background Technology

[0002] In the steel smelting industry, loopers are typically installed between stands in finishing mills as a buffer when there is a mismatch in strip flow between stands. The condition of the loopers directly affects the control effect; deterioration of the looper condition leads to poor control, affects the stability of hot rolling, and even affects strip quality, and in severe cases, causes steel piling.

[0003] The condition of the looper mainly includes its sealing performance and the status of the servo valve. In existing technologies, a simple valve-closing pressure test is typically used to check the sealing performance of the piston side and piston rod side of the looper cylinder, or the condition of the looper device is roughly judged by the looper's angular positioning accuracy. Currently, because the detection of the looper's condition is relatively rough and simple, the test results are inaccurate. Summary of the Invention

[0004] The main technical problem solved by this invention is that the detection of the condition of the finishing rolling loop is too rough and simple, resulting in inaccurate detection results and failure to achieve the desired detection effect.

[0005] To address the above problems, this invention provides a method for detecting the state of a looper. This method is applied to a looper hydraulic system, which includes a looper and a hydraulic cylinder. The looper state detection method includes:

[0006] The friction torque is obtained based on the damping test of the looper;

[0007] When the frictional torque is greater than or equal to a preset torque threshold, a step test is performed on the looper, and the step response time is obtained based on the step test.

[0008] When the step response duration is greater than or equal to the preset step response duration, a pressure holding test is performed on the looper, and the pressure change value of the hydraulic cylinder is obtained based on the pressure holding test.

[0009] Based on the pressure change value and the preset pressure change threshold, determine whether the state of the looper is internal diarrhea.

[0010] Optionally, obtaining the frictional torque based on the damping test of the looper includes:

[0011] Control the looper to rise from the initial looper angle to the preset looper angle at a preset angular velocity;

[0012] The lifting torque is obtained based on the formulas for calculating gravitational torque and torque formulas.

[0013] Control the looper to descend from the preset looper angle to the initial looper angle at the preset angular velocity;

[0014] The descent torque is obtained based on the gravity torque calculation formula and the torque formula set.

[0015] The frictional torque is obtained from the difference between the rising torque and the falling torque.

[0016] Optionally, obtaining the step response duration based on the step test includes:

[0017] The tension value of the hydraulic cylinder is adjusted to a preset tension value. Based on the torque formula set, the actual output value and the set output value of the hydraulic cylinder are obtained.

[0018] The looper is controlled to move by the actual output value and the set output value;

[0019] The step response duration is obtained by adjusting the tension value to the time it takes for the loop to begin its movement.

[0020] Optionally, controlling the looper to move based on the actual output value and the set output value includes:

[0021] The method of controlling the looper to move by means of the actual output value and the set output value includes:

[0022] The actual output torque is obtained based on the actual output value;

[0023] The set output torque is obtained based on the set output value;

[0024] The set output torque is adjusted based on the actual output torque, and the adjusted set output torque is input to the torque controller.

[0025] The torque controller controls the looper to operate.

[0026] Optionally, the formula for calculating the gravitational torque is:

[0027] M E =G E ×g×p×cos(X-|X p |);

[0028] Among them, M E G is the gravitational torque of the looper. E Let p be the weight of the loop, p be the distance from the center of gravity of the loop to the fulcrum of the loop, and X be the initial angle of the loop. p The preset loop angle;

[0029] The torque formula set is as follows:

[0030]

[0031]

[0032]

[0033]

[0034] M u =M GI -M E ;

[0035] M d =M GI +M E ;

[0036] Among them, H EB R is the effective torque radius of the hydraulic cylinder. H K1 is the distance from the fulcrum of the hydraulic cylinder on the lever arm of the looper to the fulcrum of the looper; K2 is the vertical distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; L3 is the horizontal distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; x0 is the current angle of the looper; F H The tension value of the hydraulic cylinder is M, where M is the tension torque of the hydraulic cylinder, and F is... HS F is the set output force value of the hydraulic cylinder. HI M represents the actual output force of the hydraulic cylinder. GS M is the set output torque of the hydraulic cylinder. GI M is the actual output torque of the hydraulic cylinder. u M is the rising torque of the looper. d The decreasing torque of the looper.

[0037] Optionally, the looper hydraulic system further includes a servo valve connected to the hydraulic cylinder, the servo valve being used to drive the hydraulic cylinder, and the looper status detection method further includes:

[0038] When the frictional torque is less than the preset torque threshold, the looper is in an abnormal resistance state.

[0039] When the step response duration is less than the preset step response duration, the looper is in a normal state.

[0040] The step of determining whether the looper is in a state of internal leakage based on the pressure change value and a preset pressure change threshold includes:

[0041] When the pressure change value of the hydraulic cylinder is greater than or equal to the preset pressure change threshold, the looper is in the state of internal leakage.

[0042] When the pressure change value of the hydraulic cylinder is less than the preset pressure change threshold, the state of the servo valve is deteriorated.

[0043] Optionally, the looper hydraulic system further includes a switching valve and a pilot valve, the switching valve and the pilot valve being mounted on the servo valve, and the step of obtaining the pressure change value of the looper hydraulic cylinder based on the looper pressure holding test includes:

[0044] Control the switching valve and the pilot valve to close;

[0045] Obtain the initial pressure values ​​when the switching valve and the pilot valve are closed;

[0046] Obtain the test pressure value after the switching valve and the pilot valve have been closed for a preset duration;

[0047] The pressure change value of the looper hydraulic cylinder is obtained based on the difference between the test pressure value and the initial pressure value.

[0048] The looper condition detection method of the present invention obtains the magnitude of the friction force of the looper at different positions based on the friction torque, and then summarizes the trend of the looper friction force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the condition of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and production benefits.

[0049] The present invention also provides a looper condition detection device, which is applied to a looper hydraulic system, the looper hydraulic system including a hydraulic cylinder, and the looper condition detection device comprising:

[0050] A damping test unit is used to obtain the friction torque based on the damping test of the looper;

[0051] A step test unit is used to perform a step test on the looper when the friction torque is greater than or equal to a preset torque threshold, and to obtain the step response time based on the step test.

[0052] The pressure holding test unit is used to perform a pressure holding test on the looper when the step response duration is greater than or equal to a preset step response duration, obtain the pressure change value of the hydraulic cylinder based on the pressure holding test, and determine whether the looper is in an internal leakage state based on the pressure change value and a preset pressure change threshold.

[0053] The looper condition detection device of the present invention obtains the magnitude of the friction force of the looper at different positions based on the friction torque, and then summarizes the trend of the change of the looper friction force. At the same time, it combines step response test and looper pressure holding test to accurately detect the condition of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits.

[0054] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described methods for detecting the loose state.

[0055] The computer device of the present invention obtains the magnitude of friction force of the looper at different positions based on the friction torque, and then summarizes the trend of looper friction force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the state of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits.

[0056] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-described methods for detecting the loose state.

[0057] The computer-readable storage medium of the present invention obtains the magnitude of frictional force of the looper at different positions based on the frictional torque, and then summarizes the trend of looper frictional force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the state of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the mechanical structure of the looper hydraulic system in an embodiment of the present invention;

[0059] Figure 2 This is a flowchart of the looper state detection method in an embodiment of the present invention;

[0060] Figure 3 This is a flowchart of the looper state detection method in an embodiment of the present invention;

[0061] Figure 4 This is a flowchart of the looper state detection method in an embodiment of the present invention;

[0062] Figure 5 This is a schematic diagram of the gravitational moment calculation formula in an embodiment of the present invention;

[0063] Figure 6 This is a schematic diagram of the torque formula set in an embodiment of the present invention;

[0064] Figure 7This is a flowchart of the looper state detection method in an embodiment of the present invention;

[0065] Figure 8 This is a schematic diagram of the looper state detection device in an embodiment of the present invention;

[0066] Figure 9 This is a schematic diagram of a computer device in an embodiment of the present invention.

[0067] Explanation of reference numerals in the attached figures:

[0068] 1-Looper; 2-Looper arm; 3-Hydraulic rod; 4-Hydraulic cylinder. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] The looper condition detection method of the present invention is applied to the looper hydraulic system, combined with Figure 1 As shown, the mechanical structure of the looper hydraulic system includes a looper 1, a looper arm 2, a hydraulic rod 3, and a hydraulic cylinder 4. One end of the hydraulic rod 3 is connected to the piston of the hydraulic cylinder 4, and the other end of the hydraulic rod 3 is connected to the looper arm 2. The looper arm 2 is connected to the looper 1. The looper hydraulic system also includes a control device including a servo valve, which includes a solenoid valve. The servo valve is located in the oil circuit of the hydraulic cylinder and is used to control the opening and closing of the oil circuit of the hydraulic cylinder. The solenoid valve is located on the servo valve and serves as the shut-off valve of the servo valve. The looper hydraulic system also includes a measuring device including an encoder and a pressure sensor. The encoder is used to measure the initial looper angle, and the pressure sensor is used to detect the piston pressure of the hydraulic cylinder.

[0071] Combination Figure 2 As shown, this embodiment provides a method for detecting the state of a looper. The method is applied to a looper hydraulic system, which includes a hydraulic cylinder. The method includes:

[0072] S1: Obtain the friction torque based on the damping test of the looper;

[0073] S2: When the frictional torque is greater than or equal to a preset torque threshold, a step test is performed on the looper, and the step response time is obtained based on the step test.

[0074] S3: When the step response duration is greater than or equal to the preset step response duration, a pressure holding test is performed on the looper, and the pressure change value of the hydraulic cylinder is obtained based on the pressure holding test.

[0075] S4: Determine whether the looper state is internal diarrhea based on the pressure change value and the preset pressure change threshold.

[0076] In this embodiment of the invention, when the finishing mill is not rolling steel, the looper damping test is first performed to obtain a set of friction torques. The state of the looper resistance is determined by the relationship between the friction torque and the preset torque threshold. In a preferred embodiment of the invention, the preset torque threshold can be set to 500 N*m. When the friction torque is greater than or equal to 500 N*m, the looper resistance is normal.

[0077] A step response test is performed on the looper to obtain the time from the start of the test to the looper's response, i.e., the step response time. The relationship between the step response time and the preset step response time is used to determine whether the looper can respond within a specified time. In a preferred embodiment of the present invention, the preset step response time can be set to 70ms. If the step response time is greater than or equal to 70ms, it is determined that the looper cannot respond normally.

[0078] The piston of the hydraulic cylinder reciprocates, transmitting force from the lever arm to the loop arm via the hydraulic rod, thereby controlling the loop's movement. Therefore, the hydraulic cylinder directly affects the loop's state. For the pressure holding test of the hydraulic cylinder, the state of the loop can be determined by the pressure change in the hydraulic cylinder. Thus, the pressure holding test of the loop will yield the pressure change in the hydraulic cylinder. Performing the loop pressure holding test helps identify the reasons for the loop's inability to respond promptly. The pressure change value of the loop hydraulic cylinder is obtained through the loop pressure holding test. Based on the relationship between the loop hydraulic cylinder pressure change value and a preset pressure change threshold, it is determined whether the loop has internal leakage. In a preferred embodiment of the invention, the preset pressure change threshold can be set to 0.5 MPa. When the loop hydraulic cylinder pressure change value is greater than or equal to 0.5 MPa, it is determined that the loop has internal leakage.

[0079] The looper condition detection method of the present invention obtains the magnitude of the friction force of the looper at different positions based on the friction torque, and then summarizes the trend of the looper friction force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the condition of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and production benefits.

[0080] Combination Figure 3 As shown in this embodiment of the invention, obtaining the friction torque based on the damping test of the looper includes:

[0081] S11: Control the looper setting to rise from the initial looper angle to the preset looper angle at a preset angular velocity;

[0082] S12: The lifting torque is obtained based on the gravitational torque calculation formula and the torque formula set;

[0083] S13: Control the looper to descend from the preset looper angle to the initial looper angle at the preset angular velocity;

[0084] S14: Obtain the descent torque according to the gravity torque calculation formula and the torque formula set;

[0085] S15: The friction torque is obtained based on the difference between the rising torque and the falling torque.

[0086] In this embodiment, the looper position is controlled by cascade control. The looper hydraulic system includes a tension regulator to adjust the tension of the hydraulic cylinder. The cascade control selects the set parameter value for looper position control by making the torque of the tension regulator reach the limit value, thereby achieving rapid looper positioning. In the looper damping test, the looper is first rapidly positioned to the initial looper angle. Then, the looper is controlled to rise to the preset looper angle at a preset angular velocity, and then controlled to descend to the initial looper angle at a preset angular velocity. The torque during the upward movement and the torque during the downward movement are calculated according to the gravity torque calculation formula and the torque formula set. Since the frictional force is always opposite to the direction of relative motion, the difference between the upward torque and the downward torque is taken as the frictional torque. By periodically collecting frictional torque data, the changing trend of the looper frictional force is obtained.

[0087] In one embodiment of the present invention, a looper damping test is initiated, the looper is controlled to quickly position itself to 9 degrees, and the looper is controlled to rise to 55 degrees at an angular velocity of 0.6 rad / s and hold at the 55-degree position for 10 seconds. Then the looper is controlled to descend to 9 degrees at an angular velocity of 0.6 rad / s, and the relationship between the obtained frictional torque and 500 N*m is determined.

[0088] The looper condition detection method of the present invention obtains the magnitude of the friction force of the looper at different positions based on the friction torque, and then summarizes the trend of the change of the looper friction force to determine whether the looper resistance is normal, thereby improving the accuracy of the looper condition judgment.

[0089] Combination Figure 4 As shown in this embodiment of the invention, obtaining the step response duration based on the looper step test includes:

[0090] S21: Adjust the tension value of the hydraulic cylinder to a preset tension value, and obtain the actual output force value of the hydraulic cylinder according to the torque formula set;

[0091] S22: Control the looper to move by using the actual output value and the set output value;

[0092] S23: The step response duration is obtained based on the duration of adjusting the tension value to the time when the loop begins to move.

[0093] In this embodiment, the actual output force is changed by changing the preset tension value, and the sliding sleeve is controlled to move according to the actual output force value and the preset output force value. The time from the start of changing the tension value to the end of the movement of the sliding sleeve is recorded as the step response time.

[0094] The looper state detection method of the present invention determines whether the looper can respond normally to system control and perform the required actions within a specified time. Based on the above-mentioned looper damping test, it further predicts the deterioration of the looper and improves the accuracy of the looper state judgment.

[0095] In this embodiment of the invention, controlling the looper to move based on the actual output value and the set output value includes:

[0096] The method of controlling the looper to move by means of the actual output value and the set output value includes:

[0097] The actual output torque is obtained based on the actual output value;

[0098] The set output torque is obtained based on the set output value;

[0099] The set output torque is adjusted based on the actual output torque, and the adjusted set output torque is input to the torque controller.

[0100] The torque controller controls the looper to operate.

[0101] In this embodiment, the looper hydraulic system also includes a torque controller for controlling the looper hydraulic cylinder to work. The torque controller performs feedback adjustment based on the PLC program to control the movement of the sliding sleeve, and records the time from the start of changing the tension value to the end of the looper's movement as the step response time.

[0102] The looper condition detection method of the present invention uses a PLC to control the position of the looper, so that it performs the required actions within a specified time, and records the time elapsed from the time the looper receives the tension change command to the time the looper starts to move, thereby predicting the deterioration of the looper and improving the accuracy of the looper condition judgment.

[0103] Combination Figures 5 to 6 As shown in this embodiment of the invention, the formula for calculating the gravitational torque is:

[0104] M E =G E ×g×p×cos(X-|X p |);

[0105] Among them, M E G is the gravitational torque of the looper. E Let p be the weight of the loop, p be the distance from the center of gravity of the loop to the fulcrum of the loop, and X be the initial angle of the loop. p The preset loop angle;

[0106] The torque formula set is as follows:

[0107]

[0108]

[0109]

[0110]

[0111] M u =M GI -M E ;

[0112] M d =M GI +M E ;

[0113] Among them, H EB R is the effective torque radius of the hydraulic cylinder. H K1 is the distance from the fulcrum of the hydraulic cylinder on the lever arm of the looper to the fulcrum of the looper; K2 is the vertical distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; L3 is the horizontal distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; x0 is the current angle of the looper; F H The tension value of the hydraulic cylinder is M, where M is the tension torque of the hydraulic cylinder, and F is... HS F is the set output force value of the hydraulic cylinder. HI M represents the actual output force of the hydraulic cylinder. GS M is the set output torque of the hydraulic cylinder. GI M is the actual output torque of the hydraulic cylinder. u M is the rising torque of the looper. d The decreasing torque of the looper.

[0114] In this embodiment, the torque when the loop rises and the torque when the loop falls are calculated based on the weight of the loop. The angle of the loop movement is obtained based on the difference between the initial loop angle and the preset loop angle. The length of the loop gravity lever arm is obtained based on the loop movement angle. The torque during the loop movement is calculated by substituting the gravity torque calculation formula into the formula.

[0115] Based on the fundamental theory of converting hydraulic cylinder pressure into loop torque, and using the torque formula set, the set output force and actual output force of the loop are calculated. The loop angle is obtained through an encoder and other angle detection devices. The effective lever arm length of the loop is calculated from the loop angle. The set output force value is calculated by combining the given tension torque with the effective lever arm length. The actual output force of the hydraulic cylinder is detected by pressure sensors installed at the two chambers of the hydraulic cylinder. Based on the actual output force value and the set output force value, PI control is used to control the loop. The step response time is the time from the start of changing the tension value to the end when the loop begins to be controlled.

[0116] By combining the torque provided by the hydraulic cylinder with the gravity torque of the looper, the lifting torque and the lowering torque are obtained. When the looper rises, the gravity of the looper does negative work, and the difference between the torque provided by the hydraulic cylinder and the gravity torque is taken as the lifting torque. When the looper falls, the gravity of the looper does positive work, and the sum of the torque provided by the hydraulic cylinder and the gravity torque is taken as the lowering torque.

[0117] The looper condition detection method of this invention introduces a set of torque calculation formulas, replacing the need for a large number of measuring instruments in the test. By fixing the looper's range of motion as a variable and controlling the looper's rise and fall at a fixed position, specific data is introduced for looper condition detection. The frictional force change data of the looper's movement is obtained through the gravitational torque calculation formula to accurately judge the looper's condition. This simplifies the looper condition detection process, solves the problem of needing measuring tools for actual detection in the prior art, improves detection efficiency, and optimizes the accuracy of looper condition judgment.

[0118] In this embodiment of the invention, the looper hydraulic system further includes a servo valve connected to the hydraulic cylinder, the servo valve being used to drive the hydraulic cylinder, and the looper state detection method further includes:

[0119] When the frictional torque is less than the preset torque threshold, the looper is in an abnormal resistance state.

[0120] When the step response duration is less than the preset step response duration, the looper is in a normal state.

[0121] The step of determining whether the looper is in a state of internal leakage based on the pressure change value and a preset pressure change threshold includes:

[0122] When the pressure change value of the hydraulic cylinder is greater than or equal to the preset pressure change threshold, the looper is in the state of internal leakage.

[0123] When the pressure change value of the hydraulic cylinder is less than the preset pressure change threshold, the state of the servo valve is deteriorated.

[0124] In this embodiment, the state of the looper resistance is determined by the relationship between the frictional torque and a preset torque threshold. In a preferred embodiment of the invention, the preset torque threshold can be 500 N*m. If the frictional torque is less than 500 N*m, the looper resistance is abnormal. The looper's ability to respond within a specified time is determined by the relationship between the step response duration and a preset step response duration. In a preferred embodiment of the invention, the preset step response duration can be set to 70 ms. If the step response duration is less than 70 ms, the looper is in normal condition and can respond normally. The looper's internal leakage is determined by the relationship between the change in the looper's hydraulic cylinder pressure and a preset pressure change threshold. In a preferred embodiment of the invention, the preset pressure change threshold can be set to 0.5 MPa. If the change in the looper's hydraulic cylinder pressure is less than 0.5 MPa, the looper is considered to have internal leakage.

[0125] The looper condition detection method of the present invention combines looper damping test, step response test and looper pressure holding test to accurately detect the condition of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and production benefits.

[0126] Combination Figure 7 As shown in the embodiment of the present invention, the looper hydraulic system further includes a switching valve and a pilot valve, the switching valve and the pilot valve being disposed on the servo valve. The step of obtaining the pressure change value of the looper hydraulic cylinder based on the looper pressure holding test includes:

[0127] S31: Control the switching valve and the pilot valve to close;

[0128] S32: Obtain the initial pressure values ​​when the switching valve and the pilot valve are closed;

[0129] S33: Obtain the test pressure value after the switching valve and the pilot valve have been closed for a preset duration;

[0130] S34: The pressure change value of the looper hydraulic cylinder is obtained based on the difference between the test pressure value and the initial pressure value.

[0131] In this embodiment, a sensor is also installed on the hydraulic cylinder in the looper hydraulic system. The looper pressure holding test is achieved by blocking the oil circuit of the looper hydraulic cylinder through the switching valve and pilot valve on the blocking servo valve. The pressure value can be read by the pressure sensor on the piston side and the pressure sensor on the piston rod side of the hydraulic cylinder. The change in pressure value is used to determine whether there is internal leakage in the looper hydraulic cylinder.

[0132] The piston state detection method of the present invention determines whether the internal pressure changes while the piston of the hydraulic cylinder remains unchanged, and analyzes the looper state by using the internal pressure change. The looper holding pressure experiment is carried out based on the looper damping test and step response test, which makes the detection results more accurate, can more effectively predict the looper state, reduce the probability of accidents, and improve the efficiency of rolling line operation and production benefits.

[0133] Combination Figure 8 As shown, the present invention also provides a looper condition detection device 100, which is applied to a looper hydraulic system. The looper hydraulic system includes a hydraulic cylinder, and the looper condition detection device 100 includes:

[0134] The damping test unit 110 is used to obtain the friction torque based on the damping test of the looper;

[0135] The step test unit 120 is used to perform a step test on the loop when the friction torque is greater than or equal to a preset torque threshold, and to obtain the step response time based on the step test.

[0136] The pressure holding test unit 130 is used to perform a pressure holding test on the looper when the step response duration is greater than or equal to a preset step response duration, obtain the pressure change value of the hydraulic cylinder based on the pressure holding test, and determine whether the looper is in an internal leakage state based on the pressure change value and a preset pressure change threshold.

[0137] In one embodiment of the present invention,

[0138] The damping test unit 110 is further configured to: control the looper to rise from an initial looper angle to a preset looper angle at a preset angular velocity; obtain the rising torque according to the gravitational torque calculation formula and the torque formula set; control the looper to descend from the preset looper angle to the initial looper angle at the preset angular velocity; obtain the falling torque according to the gravitational torque calculation formula and the torque formula set; and obtain the friction torque according to the difference between the rising torque and the falling torque.

[0139] The step test unit 120 is also used to adjust the tension value of the hydraulic cylinder to a preset tension value, obtain the actual output value and the set output value of the hydraulic cylinder according to the torque formula set, control the looper to perform the action through the actual output value and the set output value, and obtain the step response duration according to the time from adjusting the tension value to when the looper starts to perform the action.

[0140] The step test unit 120 is further configured to: obtain the actual output torque based on the actual output value; obtain the set output torque based on the set output value; perform feedback adjustment on the set output torque based on the actual output torque; input the feedback-adjusted set output torque into the torque controller; and control the looper to perform the operation through the torque controller.

[0141] The formula for calculating the gravitational torque is as follows:

[0142] M E =G E ×g×p×cos(X-|X p |);

[0143] Among them, M E G is the gravitational torque of the looper. E Let p be the weight of the loop, p be the distance from the center of gravity of the loop to the fulcrum of the loop, and X be the initial angle of the loop. p The preset loop angle;

[0144] The torque formula set is as follows:

[0145]

[0146]

[0147]

[0148]

[0149] M u =M GI -M E ;

[0150] M d =M GI +M E ;

[0151] Among them, H EB R is the effective torque radius of the hydraulic cylinder. HK1 is the distance from the fulcrum of the hydraulic cylinder on the lever arm of the looper to the fulcrum of the looper; K2 is the vertical distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; L3 is the horizontal distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper; x0 is the current angle of the looper; F H The tension value of the hydraulic cylinder is M, where M is the tension torque of the hydraulic cylinder, and F is... HS F is the set output force value of the hydraulic cylinder. HI M represents the actual output force of the hydraulic cylinder. GS M is the set output torque of the hydraulic cylinder. GI M is the actual output torque of the hydraulic cylinder. u M is the rising torque of the looper. d The decreasing torque of the looper;

[0152] The damping test unit 110 is also used to determine that when the frictional torque is less than the preset torque threshold, the looper is in an abnormal resistance state.

[0153] The step test unit 120 is also used to determine that the looper is in normal condition when the step response duration is less than the preset step response duration.

[0154] The pressure holding test unit 130 is also used to determine that when the pressure change value of the hydraulic cylinder is greater than or equal to a preset pressure change threshold, the state of the looper is internal leakage.

[0155] When the pressure change value of the hydraulic cylinder is less than the preset pressure change threshold, the state of the servo valve is deteriorated.

[0156] The pressure holding test unit 130 is also used to control the switching valve and the pilot valve to close; obtain the initial pressure value when the switching valve and the pilot valve are closed; obtain the test pressure value after the switching valve and the pilot valve have been closed for a preset time; and obtain the pressure change value of the looper hydraulic cylinder based on the difference between the test pressure value and the initial pressure value.

[0157] The looper condition detection device of the present invention obtains the magnitude of the friction force of the looper at different positions based on the friction torque, and then summarizes the trend of the change of the looper friction force. At the same time, it combines step response test and looper pressure holding test to accurately detect the condition of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits.

[0158] Combination Figure 9 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0159] The friction torque is obtained based on the damping test of the looper;

[0160] When the frictional torque is greater than or equal to a preset torque threshold, a step test is performed on the looper, and the step response time is obtained based on the step test.

[0161] When the step response duration is greater than or equal to the preset step response duration, a pressure holding test is performed on the looper, and the pressure change value of the hydraulic cylinder is obtained based on the pressure holding test.

[0162] Based on the pressure change value and the preset pressure change threshold, it is determined whether the looper state is internal diarrhea.

[0163] The computer device of the present invention obtains the magnitude of friction force of the looper at different positions based on the friction torque, and then summarizes the trend of looper friction force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the state of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits.

[0164] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps:

[0165] The friction torque is obtained based on the damping test of the looper;

[0166] When the frictional torque is greater than or equal to a preset torque threshold, a step test is performed on the looper, and the step response time is obtained based on the step test.

[0167] When the step response duration is greater than or equal to the preset step response duration, a pressure holding test is performed on the looper, and the pressure change value of the hydraulic cylinder is obtained based on the pressure holding test.

[0168] Based on the pressure change value and the preset pressure change threshold, it is determined whether the looper state is internal diarrhea.

[0169] The computer-readable storage medium of the present invention obtains the magnitude of frictional force of the looper at different positions based on the frictional torque, and then summarizes the trend of looper frictional force change. At the same time, it combines step response test and looper pressure holding test to accurately detect the state of the looper, predict whether the looper is deteriorating, reduce the probability of accidents, and improve the efficiency of rolling line operation and increase production benefits.

[0170] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0171] It should 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 such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0172] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for detecting the state of a looper, characterized in that, The looper state detection method is applied to a looper hydraulic system, which includes a looper and a hydraulic cylinder, and also includes a servo valve connected to the hydraulic cylinder for driving the hydraulic cylinder. The system also includes a switching valve and a pilot valve, which are mounted on the servo valve. The looper state detection method includes: Based on the damping test of the looper, the friction torque is obtained; including: controlling the looper to rise from the initial looper angle to the preset looper angle at a preset angular velocity; The lifting torque is obtained based on the formulas for calculating gravitational torque and torque formulas. Control the looper to descend from the preset looper angle to the initial looper angle at the preset angular velocity; The descent torque is obtained based on the gravity torque calculation formula and the torque formula set. The frictional torque is obtained based on the difference between the rising torque and the falling torque; When the frictional torque is greater than or equal to a preset torque threshold, a step test is performed on the looper, and the step response time is obtained based on the step test; including: adjusting the tension value of the hydraulic cylinder to a preset tension value, and obtaining the actual output value and the set output value of the hydraulic cylinder according to the torque formula set; The looper is controlled to move by the actual output value and the set output value; The step response duration is obtained by adjusting the tension value to the point where the loop begins to move. When the step response duration is greater than or equal to a preset step response duration, a pressure holding test is performed on the looper, and the pressure change value of the hydraulic cylinder is obtained based on the pressure holding test; including: Control the switching valve and the pilot valve to close; Obtain the initial pressure values ​​when the switching valve and the pilot valve are closed; Obtain the test pressure value after the switching valve and the pilot valve have been closed for a preset duration; The pressure change value of the hydraulic cylinder is obtained based on the difference between the test pressure value and the initial pressure value. Based on the pressure change value and the preset pressure change threshold, determine whether the state of the looper is internal diarrhea.

2. The method for detecting the state of a looper according to claim 1, characterized in that, The method of controlling the looper to move by means of the actual output value and the set output value includes: The method of controlling the looper to move by means of the actual output value and the set output value includes: The actual output torque is obtained based on the actual output value; The set output torque is obtained based on the set output value; The set output torque is adjusted based on the actual output torque, and the adjusted set output torque is input to the torque controller. The torque controller controls the looper to operate.

3. The method for detecting the state of a looper according to claim 1, characterized in that, The formula for calculating the gravitational torque is: |）； in, The gravitational torque of the looper. Let p be the weight of the loop, p be the distance from the center of gravity of the loop to the fulcrum of the loop, and X be the initial loop angle. The preset loop angle; The torque formula set is as follows: ； ； ； ； ； ； in, The effective torque radius of the hydraulic cylinder is... The distance from the fulcrum of the hydraulic cylinder on the lever arm of the looper to the fulcrum of the looper. The vertical distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper is given. The horizontal distance from the fulcrum of the hydraulic cylinder to the fulcrum of the looper is denoted as . To adapt to the current perspective, The tension value of the hydraulic cylinder. The tension torque of the hydraulic cylinder. This refers to the set output force value of the hydraulic cylinder. This refers to the actual output force of the hydraulic cylinder. The set output torque of the hydraulic cylinder, This refers to the actual output torque of the hydraulic cylinder. The rising torque of the looper, The decreasing torque of the looper.

4. The method for detecting the state of a looper according to claim 1, characterized in that, Also includes: When the frictional torque is less than the preset torque threshold, the looper is in an abnormal resistance state. When the step response duration is less than the preset step response duration, the looper is in a normal state. The step of determining whether the looper is in a state of internal leakage based on the pressure change value and a preset pressure change threshold includes: When the pressure change value of the hydraulic cylinder is greater than or equal to the preset pressure change threshold, the looper is in the state of internal leakage. When the pressure change value of the hydraulic cylinder is less than the preset pressure change threshold, the state of the servo valve is deteriorated.

5. A device for detecting the state of a looper, characterized in that, The looper status detection device is applied to a looper hydraulic system, which includes a hydraulic cylinder and a servo valve connected to the hydraulic cylinder for driving it. The system also includes a switching valve and a pilot valve, which are mounted on the servo valve. The looper status detection device comprises: A damping test unit is used to obtain the friction torque based on the damping test of the looper; including: controlling the looper to rise from an initial looper angle to a preset looper angle at a preset angular velocity; obtaining the rising torque according to the gravitational torque calculation formula and the torque formula set; controlling the looper to descend from the preset looper angle to the initial looper angle at the preset angular velocity; obtaining the falling torque according to the gravitational torque calculation formula and the torque formula set; and obtaining the friction torque based on the difference between the rising torque and the falling torque. A step test unit is used to perform a step test on the looper when the frictional torque is greater than or equal to a preset torque threshold, and to obtain the step response duration based on the step test; including: adjusting the tension value of the hydraulic cylinder to a preset tension value; obtaining the actual output value and the set output value of the hydraulic cylinder according to the torque formula set; controlling the looper to move by the actual output value and the set output value; and obtaining the step response duration based on the time from adjusting the tension value to when the looper begins to move. The pressure holding test unit is used to perform a pressure holding test on the looper when the step response duration is greater than or equal to a preset step response duration, and to obtain the pressure change value of the hydraulic cylinder based on the pressure holding test; including: controlling the switching valve and the pilot valve to close; obtaining the initial pressure value when the switching valve and the pilot valve are closed; obtaining the test pressure value after the switching valve and the pilot valve have been closed for a preset duration; obtaining the pressure change value of the hydraulic cylinder based on the difference between the test pressure value and the initial pressure value; and determining whether the looper is in an internal leakage state based on the pressure change value and a preset pressure change threshold.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the loop state detection method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the loop state detection method according to any one of claims 1 to 4.

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