An Automatic Upward Coiling Position Deviation Correction Control Method

Abstract

The present invention relates to the field of automatic control of steel rolling, and is a method for automatic coiling position correction control, characterized in that it comprises the following steps: Step 1: Coil diameter measurement; Step 2: Coil car lifts the coil to the height of the center of the reel; Step 3: Coil width measurement; Step 4: Coil car translates the coil to the center of the reel; Step 5: Automatic coiling is completed. The coil width measurement system described in the present invention can effectively avoid the influence of uneven coiling at the head and tail of the coil on the measurement accuracy, and ensure the consistency of the coil center and the reel center in the horizontal direction. The deviation of the center of the coil and the reel in the horizontal direction causes the coil to deviate from the center of the rolling mill, causing a series of problems, such as: the speed cannot be increased, the strip breaks at the start, etc., which seriously affect the production efficiency and the rolling yield; the plate shape display is abnormal, which affects the quality of the finished plate shape.

Description

Technical Field

[0001] The present invention relates to the field of automatic control of steel rolling, and particularly to an automatic coiling position deviation correction control method. Background Art

[0002] In the metallurgical industry, functions of automatic coiling are used in processes such as steel rolling, annealing, and slitting. Full-automatic control can not only eliminate unsafe factors of humans but also improve the accuracy and efficiency of coiling. Automatic coiling requires that the inner ring of the steel coil can be exactly sleeved on the reel in the vertical direction, and at the same time, the steel coil can be accurately located at the axial center position of the reel in the horizontal direction. Due to process requirements and cost considerations, silicon steel rolled by a twenty-high mill often needs to weld a leading strip (wider than the original coil body) at the leading end, or the incoming material edge is uneven due to uneven coiling in the previous process, which will cause the edge of the leading end or the trailing end to exceed the normal width of the steel coil. Since the current automatic coiling uses axial scanning width measurement of the steel coil, the measured width will be greater than the actual width of the steel coil, resulting in the steel coil being unable to accurately reach the target position in the horizontal direction. The coil diameter measurement of the steel coil is obtained by detecting the radial movement (vertical movement) of the steel coil by a photoelectric switch, so the requirement for the horizontal degree of the infrared ray emitted by the photoelectric switch is very high. However, the base of the photoelectric switch often droops due to gravity or is knocked, resulting in an angle change, which affects the coil diameter measurement of the steel coil, making the steel coil unable to accurately reach the target position in the vertical direction. The deviation of the coiling position often leads to accidents such as coil turnover and tape breakage, which not only increases potential safety hazards but also affects product quality and production efficiency.

[0003] The present invention changes the width measurement device and adds an automatic deviation correction algorithm for the coiling height to ensure more accurate position calculation of automatic coiling in the horizontal and vertical directions, effectively avoiding control errors caused by external factors such as uneven edges of the steel coil and offset of the photoelectric position, so that the steel coil can be accurately coiled to the target position. Summary of the Invention

[0004] The object of the present invention is to provide an automatic coiling position deviation correction control method for the above problems.

[0005] The object of the present invention is achieved as follows: An automatic rewinding position deviation correction control method, characterized by comprising the following steps: Step 1: Coil diameter measurement: The process of the coil diameter measurement adaptive compensation algorithm is as follows: (1) After the first angular deviation of the photoelectric switch, during the automatic rewinding process, the operator manually adjusts the rewinding height to the center height of the drum; (2) The existing PLC electrical control system recognizes the manually adjusted height during the execution process and calculates the photoelectric deviation angle; (3) During subsequent several automatic rewinding processes, the deviation angle is used as a known quantity, and according to the coil diameter, the height compensation amount is automatically calculated for deviation correction; (4) When the photoelectric switch deviates again, the system recognizes the new manually adjusted height, automatically clears the old deviation angle, and re-executes the above steps; Step 2: The coil car lifts the steel coil to the center height of the drum; Step 3: Coil width measurement: Two ranging sensors are installed opposite to each other and fixed. The distance L C is a fixed value and known. Ranging sensor 1 measures the distance L1 from the left side edge of the steel coil in real time, and ranging sensor 2 measures the distance L2 from the right side edge of the steel coil in real time.

[0006] L 卷宽 =L C -L1-L2

[0007] The width of the steel coil is calculated from the above formula, and the distance L between the center position of the drum and ranging sensor 1 J is also a fixed value and known.

[0008] L1 = L J -L 卷宽 / 2

[0009] When the real-time distance of the ranging sensor shows the calculated value of the above formula L1, it means that the horizontal displacement of the steel coil to the center position of the drum is completed; Step 4: The coil car translates the steel coil to the center position of the drum; Step 5: Automatic rewinding is completed.

[0010] The formula of the coil diameter measurement adaptive compensation algorithm in Step 1 is as follows:

[0011]

[0012]

[0013] H PH : The height of the photoelectric switch is a fixed value and known, H P : The height of the center of the roller of the steel coil car is the height lifted by the coil car, which is measured by the encoder in real time. d: The diameter of the roller is a fixed value and known. C: The distance between the centers of the two rollers is a fixed value and known. Based on this, the coil diameter R can be calculated. When the angle of the photoelectric switch deviates for the first time, the automatic rewinding height is slightly lower, and it needs to be manually raised by H again. Based on this, the coil diameter r can be calculated from H.

[0014]

[0015] H: When the photoelectric sensor deviates for the first time, the height of the coil car is manually adjusted.

[0016]

[0017] L PH :The horizontal distance between the photoelectric switch and the center of the steel coil is a constant and known value.

[0018] Finally, the offset angle α can be obtained by the manual adjustment of the height after the first photoelectric offset. After the offset angle α is known, the coil diameter R and coil diameter r can be calculated when the photoelectric switch detects the steel coil, and the automatic height correction amount H of the steel coil car can be obtained. 纠偏 , H 纠偏 The calculation formula is the same as H in the above formula.

[0019]

[0020] When the photoelectric deviation angle is constant, the above formula is applicable to the automatic deviation correction height of steel coils of various diameters.

[0021] The present invention provides the following beneficial effects: 1. The adaptive coil height correction control described herein ensures that the coil can be safely loaded onto the reel. Vertical deviation between the coil center and the reel center can cause the coil to tip during loading, posing a serious safety hazard. This invention completely resolves the problem of coil tipping during automatic loading caused by coil diameter measurement errors.

[0022] 2. The coil width measurement system described in this invention effectively mitigates the impact of uneven coiling at the head and tail of the coil on measurement accuracy, ensuring horizontal alignment between the coil center and the drum center. Horizontal center deviation between the coil and drum causes the coil to deviate from the mill center, leading to a series of problems such as inability to increase speed and strip breakage during start-up, which severely impacts production efficiency and rolling yield; and abnormal flatness display, impacting the quality of the finished product. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 It is a schematic diagram of coil diameter measurement of the present invention.

[0025] Figure 2 It is a schematic diagram of the steel coil width measurement of the present invention.

[0026] Among them: 1. Photoelectric switch infrared, 2. Steel coil, 3. Steel coil trolley roller, 4. Ground reference line, 5. Distance meter 1, 6. Distance meter 2, 7. Coiler drum, 8. Steel coil movement direction, 9. Drum centerline, 10. Steel coil centerline. DETAILED DESCRIPTION

[0027] With the continuous upgrading of national intelligent manufacturing, the automatic coil loading function has been gradually realized in the strip steel production field. However, during the automatic coil loading process, problems such as inaccurate measurement of the width and diameter of the steel coil due to uneven coiling at the edge of the steel coil or deviation of the angle of the photoelectric detection switch occur, resulting in a deviation between the position of the steel coil during automatic coil loading and the target position. By adopting the opposed-type width measurement method and adding an adaptive deviation correction algorithm with height deviation compensation, the present invention effectively avoids the influence of the above two factors on the accuracy of automatic coil loading, completely solves the problem of the position deviation of the steel coil during automatic coil loading, and solves the problem that the steel coil cannot be automatically loaded onto the center position of the reel by the coil car due to reasons such as uneven edges of the steel coil or errors of the detection device, enabling the steel coil to accurately reach the target position in both the horizontal and vertical directions.

[0028] The steps of automatic coil loading are as follows: coil diameter measurement → the coil car lifts the steel coil to the center height of the reel → coil width measurement → the coil car translates the steel coil to the center position of the reel → automatic coil loading is completed.

[0029] The present invention solves the problem of automatic coil loading deviation from two aspects.

[0030] 1. Adaptive compensation control for coil diameter measurement to solve the problem of vertical deviation between the center of the steel coil and the center of the coiler.

[0031] The height of coil loading depends on the size of the coil diameter. As Figure 1 shown, the dotted line ① is the horizontal infrared ray emitted by the photoelectric switch under normal conditions. When the top of the steel coil just blocks the photoelectric switch, the current coil diameter can be calculated based on parameters such as the lifting height of the car. However, since the photoelectric switch often sags due to the gravity of the base or external force, that is, it emits an infrared ray ② that is not on the horizontal line. It can be seen that when the coil car rises to the same height, the actually measured coil diameter is larger than the actual one, but the control system still mistakenly believes that the infrared ray is horizontal normal, that is, the measured coil diameter is greater than the actual coil diameter of the steel coil, ultimately resulting in a low automatic coil loading height and the inability to normally fit the inner ring of the steel coil onto the reel, causing the coil to roll over.

[0032] Based on this situation, the process of the adaptive compensation algorithm is as follows: (1) After the photoelectric switch is first offset in angle, the operator manually adjusts the coil loading height to a suitable position during the execution of the automatic coil loading process; (2) The system identifies the height manual adjustment amount during the execution of the automatic program and calculates the photoelectric offset angle; (3) During several subsequent automatic coil loading processes, the offset angle is used as a known quantity, and the height compensation amount is automatically calculated according to the coil diameter size for deviation correction; (4) When the photoelectric switch is offset again, the system identifies the new height manual adjustment amount, automatically clears the old offset angle, and re-executes the above steps.

[0033] Formula 1

[0034] Formula 2

[0035] H PH : The height of the photoelectric switch (fixed and known).

[0036] H P : The height of the center of the steel coil trolley roller (the height of the steel coil trolley raised, measured in real time by the encoder (the encoder is installed at the tail of the steel coil trolley motor and is included when leaving the factory)).

[0037] d: roller diameter (fixed and known).

[0038] C: The distance between the centers of the two rollers (constant and known).

[0039] Based on this, the roll diameter R can be calculated. When the photoelectric switch angle deviates for the first time, the automatic roll-up height is slightly low and needs to be manually raised to H. Based on this H, the roll diameter r can be calculated.

[0040] Formula 3

[0041] H: When the photoelectric sensor deviates for the first time, the height of the coil car is manually adjusted.

[0042] Formula 4

[0043] L PH : The horizontal distance between the photoelectric switch and the center of the steel coil (fixed and known).

[0044] Finally, the offset angle α can be obtained by the manual adjustment of the height after the first photoelectric offset. After the offset angle α is known, the coil diameter R and coil diameter r can be calculated when the photoelectric switch detects the steel coil, and the automatic height correction amount H of the steel coil car can be obtained. 纠偏 (The calculation formula is the same as H in the above formula).

[0045] Formula 5

[0046] When the photoelectric deviation angle is constant, the above formula is applicable to the automatic deviation correction height of steel coils of various diameters.

[0047] 2. The application of dual photoelectric distance meters in measuring the width of steel coils solves the problem of horizontal deviation between the center of the steel coil and the center of the coiler.

[0048] By changing the coil width measurement device and method, the problems of inaccurate width measurement and horizontal displacement caused by uneven winding of the inner and outer coils are resolved. Since the coils typically only have a few turns at the beginning or end that are uneven, two through-beam photoelectric distance meters are used to detect the center of the coil diameter, eliminating the influence of the inner and outer coils. This effectively avoids the width measurement deviation caused by uneven winding of the coils in the original measurement system.

[0049] like Figure 2As shown, two rangefinders are fixed in opposite direction, and the distance between the two rangefinders is L C is a fixed and known value. Distance meter 1 measures the distance L1 to the left edge of the steel coil in real time, and distance meter 2 measures the distance L2 to the right edge of the steel coil in real time.

[0050] L 卷宽 =L C -L1-L2

[0051] The width of the steel coil is calculated by the above formula, and the distance L between the center of the coil and the distance meter 1 is J is also a fixed value and is known.

[0052] L1=L J -L 卷宽 / 2

[0053] When the real-time distance on the distance meter displays the calculated value of the above formula L1, it means that the horizontal displacement of the steel coil to the center of the reel is completed.

[0054] This invention, applied to the automatic coil loading control of the 3# and 4# rolling mills at the Taiyuan Iron and Steel Cold Rolling Plant, solves coil loading issues caused by uneven coiling at the head and tail and photoelectric position offset. It also eliminates coil tipping accidents caused by coil loading issues, and eliminates the problems of high-speed rolling, strip breakage, and poor plate shape caused by offset coil loading. Production efficiency has increased by over 20% compared to pre-implementation levels, the proportion of defective plate products has decreased by 35%, and the yield rate has increased by 0.5 percentage points.

[0055] According to the above adaptive compensation algorithm process, the actual application example of a roll-up correction process is as follows.

[0056] 1. Steel coil A is placed on the trolley rollers and the automatic coiling process begins. After measurement by the photoelectric switch, the trolley automatically lifts the steel coil to a height of 1300mm. The operator checks and finds that the center of the steel coil is lower than the center of the drum. After manually lifting the steel coil to 1320mm, the height is appropriate.

[0057] 2. After the PLC control system detects that the automatic program is executed, the height is manually adjusted by 20mm, H PH (2000mm),H P (1000mm),d(200mm),C(400mm),L PH (571mm) is a known quantity. From Formula 2, we can deduce R=1471mm, Formula 3 calculates r=1450mm, and Formula 4 calculates the offset angle α=2°.

[0058] 3. When automatically loading another coil again, the deviation angle α is used as a known quantity. For example, when the coil diameter of coil B is measured to be 1500mm, according to formula 5, after completing the previous automatic program, the deviation correction amount H will continue to be automatically adjusted. 纠偏= 21mm, that is, the trolley is further raised by 21mm, and the height automatic deviation correction is completed.

[0059] The above are only specific embodiments of the present invention, but the structural features within the scope of protection of the present invention are not limited thereto. Any changes or modifications made by any person skilled in the art within the field of the present invention are covered by the patent scope of the present invention.

Claims

1. An automatic winding position correction control method, characterized by: The following steps are involved: Step 1: Coil diameter measurement: The process of the adaptive compensation algorithm for coil diameter measurement is as follows: (1) After the photoelectric switch is offset for the first time, the operator manually adjusts the height of the roll to the center height of the roll during the automatic roll-up process; (2) The existing PLC electrical control system recognizes the manual height adjustment during the execution process and calculates the photoelectric offset angle; (3) In the subsequent automatic winding process, the offset angle is used as a known quantity, and the height compensation amount is automatically calculated according to the roll diameter to correct the deviation; (4) When the photoelectric switch deviates again, the system recognizes the new manual height adjustment value, automatically clears the old offset angle, and re-executes the above steps; Step 2: The steel coil car lifts the steel coil to the center height of the reel; Step 3: Roll width measurement: Two rangefinders are fixed in opposite directions. The distance between the two rangefinders is L. C is a fixed and known value, distance meter 1 measures the distance L1 to the left edge of the steel coil in real time, and distance meter 2 measures the distance L2 to the right edge of the steel coil in real time; L 卷宽 =L C -L1-L2 The width of the steel coil is calculated by the above formula, and the distance L between the center of the coil and the distance meter 1 is J is also a fixed value and known; L1=L J -L 卷宽 / 2 When the real-time distance on the distance meter displays the calculated value of the above formula L1, it means that the horizontal displacement of the steel coil to the center of the reel is completed; Step 4: The steel coil car moves the steel coil to the center of the reel; Step 5: Automatic scrolling is completed.

2. The automatic winding position correction control method according to claim 1, characterized in that: The formula for the adaptive compensation algorithm for coil diameter measurement in step 1 is: H PH :The height of the photoelectric switch is fixed and known. H P : The height of the center of the coil trolley roller is the height of the coil trolley, which is measured in real time by the encoder. d: The diameter of the roller is a fixed value and is known. C: The distance between the centers of the two rollers is constant and known. Based on this, the coil diameter R can be calculated. When the photoelectric switch angle deviates for the first time, the automatic coil height is slightly lower and needs to be manually raised to H. Based on this H, the coil diameter r can be calculated. H: When the photoelectric device deviates for the first time, the height of the coil car is manually adjusted. L PH : The horizontal distance between the photoelectric switch and the center of the steel coil is a fixed value and known. Finally, the offset angle α can be obtained by the manual adjustment of the height after the first photoelectric offset. After the offset angle α is known, the coil diameter R and coil diameter r can be calculated when the photoelectric switch detects the steel coil, and the automatic height correction amount H of the steel coil car can be obtained. 纠偏 , H 纠偏 The calculation formula is the same as H in the above formula; When the photoelectric deviation angle is constant, the above formula is applicable to the automatic deviation correction height of steel coils of various diameters.

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