A single stand reversing rolling mill coiling tension self-adaptive control method and system

Abstract

The application provides a single-stand reversible rolling mill coiling tension self-adaptive control method and system, adopts an adaptive PI controller to realize coiling tension closed-loop control, analyzes tension dynamic response data in the production process of different specifications of strip steel, establishes a control object mathematical model, adaptively adjusts PI controller parameters according to the change of the control object mathematical model, improves the coiling tension closed-loop control performance, and solves the problem of large fluctuation of coiling tension. It comprises the following steps: S1: a dynamic response curve method is used to establish a coiling tension control object mathematical model, the range of coiling diameter D is divided into n sections, the control object gain coefficient K i of the control object at the end of each coiling diameter section is calculated (i,i+1) , the gain coefficient K (i,i+1) between the end points of two coiling diameter sections is calculated, and thus the control object mathematical model is completed; S2: a tension closed-loop control system simulation model is established, m kinds of working conditions are divided according to the coiling diameter D, PI controller parameters are set, and a function relationship between the PI controller parameters and the coiling diameter D is established.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metallurgical automation, and in particular to a single-stand reversing mill coiling tension self-adaptive control method and system. BACKGROUND

[0002] Tension is an important parameter in cold-rolled strip production, and the effect of tension directly affects the flatness, thickness, strip surface quality, coil appearance quality and unit operation stability. Single-stand reversing mill tension control is achieved by adjusting the unwinding machine and coiling machine torque, and the control mode includes indirect tension control and direct tension control. Indirect tension control is open-loop control without tension feedback, and the coiling torque set value is calculated according to the tension set value. Direct tension control is closed-loop control with a tension sensor, and the coiling torque set value is calculated according to the actual tension deviation. In practical application, indirect tension control is used as the basis to calculate the coiling machine torque basic set value, and the tension closed loop calculates the additional set value for fine tuning (fine tuning range 5% to 10%).

[0003] Due to the influence of factors such as indirect tension control calculation error, motor drive system nonlinearity and mechanical vibration, tension fluctuations occur frequently, especially during high-speed rolling of thin strips with a coil diameter less than 1 meter, and even oscillation divergence occurs. During thin strip rolling, mechanical vibration brings external disturbance to tension control, and during high-speed rolling of small coil diameter, the coiling drive system enters the weak magnetic speed regulation zone, and the nonlinearity of the object model brings systematic disturbance to tension control.

[0004] Chinese patent CN113042540A discloses a method for controlling the tension of an extremely thin steel strip coil, which describes a method for calculating the coiling torque in indirect tension control, and torque compensation is performed on the coiling machine to keep the tension of the steel strip constant, but does not mention the self-adaptive calculation method of the controller parameters. Currently, the single-stand reversing mill coiling tension closed-loop control generally uses the trial-and-error method to set the controller parameters, which requires a long debugging time and a large amount of debugging materials, increasing the debugging cost. SUMMARY

[0005] To solve the technical problems in the background art, the present application provides a single-stand reversing mill coiling tension self-adaptive control method and system, which uses an adaptive PI controller to achieve coiling tension closed-loop control, establishes a control object mathematical model by analyzing the tension dynamic response data of different specifications of strip steel production processes, and adjusts the PI controller parameters according to the changes in the control object mathematical model, thereby improving the coiling tension closed-loop control performance and solving the problem of large fluctuations in coiling tension.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] A single stand reversible rolling mill coiling tension adaptive control method, the control method adopts adaptive PI controller to realize coiling tension closed loop control, and the PI controller parameters are adaptively adjusted according to the change of the mathematical model of the control object, and the control method comprises the following steps:

[0008] S1: a dynamic response curve method is used to establish a mathematical model of a coiling tension control object, comprising:

[0009] S101: setting an equivalent mathematical model formula of the control object;

[0010] S102: in the coiling tension open loop control state, a step signal input of a set tension value plus A% is input, and dynamic response data of the control object is collected, including load torque and actual tension value; A% is a set additional percentage of the set tension value;

[0011] S103: the gain coefficient K of the control object changes with the roll diameter D, the range of the roll diameter D is divided into n segments, and the control object gain coefficient K at the end point of each roll diameter segment is calculated from the dynamic response initial tension actual value, the dynamic response end tension actual value, the dynamic response initial torque actual value and the dynamic response end torque actual value at the end point of each roll diameter segment i ;

[0012] S104: the two roll diameter segment end points are segmented linearly, and the functional relationship between the control object gain coefficient K and the roll diameter D is established, and the gain coefficient K between the two roll diameter segment end points is calculated from the control object gain coefficient of the roll diameter segment end point, the maximum value of the roll diameter, the minimum value of the roll diameter and the current roll diameter (i,i+1) ; so as to complete the mathematical model of the control object;

[0013] S2: based on the control object mathematical model established in step S1, a tension closed loop control system simulation model is established, and the PI controller parameters are set, comprising:

[0014] S201: based on the control object mathematical model, a tension closed loop control system simulation model is established, m kinds of working conditions are divided according to the roll diameter D from small to large according to the controller performance index requirements, and m PI controller parameters are set, the proportional constant K P1 ......K Pj ......K Pm And the integral constant K I1 ......K Ij ......K Im ;

[0015] S202: according to the above m kinds of working conditions of the roll diameter D, the PI controller parameters are segmented linearly; the functional relationship between the PI controller parameters and the roll diameter D is established;

[0016] KP is obtained from the proportional constant of the two winding diameter section endpoints, the winding diameter maximum value, the winding diameter minimum value and the current winding diameter (j,j+1) ;

[0017] KI is obtained from the integral constant of the two winding diameter section endpoints, the winding diameter maximum value, the winding diameter minimum value and the current winding diameter (j,j+1) .

[0018] Further, in the step S101, the control object is equivalent to a first order inertia link with pure lag, the control object gain coefficient K, the object time constant T and the pure lag time constant τ;

[0019]

[0020] Further, in the step S103, the gain coefficient K of the control object at each winding diameter section endpoint is calculated i :

[0021]

[0022] F act0 - the dynamic response initial tension actual value of each winding diameter section endpoint;

[0023] F act1 - the dynamic response end tension actual value of each winding diameter section endpoint;

[0024] T Qact0 - the dynamic response initial torque actual value of each winding diameter section endpoint;

[0025] T Qact1 - the dynamic response end torque actual value of each winding diameter section endpoint.

[0026] Further, in the step S104, the function relationship between the control object gain coefficient K and the winding diameter D is established:

[0027] the minimum winding diameter D of the two winding diameter section endpoints min and the maximum winding diameter D max the maximum value K of the control object gain coefficient of the corresponding two winding diameter section endpoints max and the minimum value K min , that is, the maximum value and the minimum value of K i+1 and K i , the gain coefficient K between the two winding diameter section endpoints (i,i+1) is expressed as:

[0028]

[0029] D is the current winding diameter;

[0030] Ki The gain coefficient of the control object at the endpoint of the i-th roll diameter segment;

[0031] K i+1 The gain coefficient of the control object at the endpoint of the (i+1)th roll diameter segment.

[0032] Furthermore, in step S203, a functional relationship is established between the PI controller parameters and the roll diameter, based on the maximum value of the proportional constant Kp at the two endpoints of the roll diameter segment. max and minimum value Kp min That is, K Pj and K Pj+1 The maximum and minimum values ​​in the range, and the maximum roll diameter D at the two endpoints of the roll diameter segment. max Minimum roll diameter D min The proportional constant KP between the endpoints of the two volume segments is derived from the current volume diameter D. (j,j+1) for:

[0033]

[0034] K Pj The proportional constant of the PI controller at the endpoint of the j-th roll diameter segment;

[0035] K Pj+1 is the PI controller proportional constant at the endpoint of the (j+1)th roll diameter segment.

[0036] Furthermore, in step S203, a functional relationship is established between the PI controller parameters and the roll diameter, based on the maximum integral constant KI at the two endpoints of the roll diameter segment. max and minimum value KI min That is, K Ij and K Ij+1 The maximum and minimum values ​​in the range, and the maximum roll diameter D at the two endpoints of the roll diameter segment. max Minimum roll diameter D min The proportional constant KI between the endpoints of the two volume segments is derived from the current volume diameter D. (j,j+1) for:

[0037]

[0038] K Ij Let be the integral constant of the PI controller at the endpoint of the j-th roll diameter segment;

[0039] K Ij+1 Let be the integral constant of the PI controller at the (j+1)th roll diameter segment endpoint.

[0040] Furthermore, in step S102, a step signal input with an additional tension of 3-8% is set.

[0041] Further, the parameter setting of the PI controller in step S201 is based on: overshoot less than 2%, and regulation time less than 1s.

[0042] The application also provides a system of the single-stand reversing mill coiling tension adaptive control method, which comprises a control device and a detection unit and a controlled object connected to the control device.

[0043] Further, the control device comprises a primary PLC, a secondary computer system and a simulation system.

[0044] Compared with the prior art, the application has the following beneficial effects:

[0045] 1) The application establishes a mathematical model of the control object by analyzing the tension dynamic response data in the production process of different specifications of strip steel, and adjusts the PI controller parameters according to the change of the mathematical model of the control object, thereby improving the performance of the coiling tension closed-loop control and solving the problem of large fluctuation of the coiling tension.

[0046] 2) The adaptive PI controller is used to realize the coiling tension closed-loop control, and the PI controller parameters are adjusted according to the change of the mathematical model of the control object, and the overshoot of the performance index of the controller (which is also the basis for the parameter setting of the controller) is less than 2%, and the regulation time is less than 1s. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 It is a controller setting result curve (overshoot less than 2%, and regulation time less than 1s) of the single-stand reversing mill coiling tension adaptive control method of the application. DETAILED DESCRIPTION

[0048] The specific embodiment of the application will be further described below in combination with the drawings:

[0049] A single-stand reversing mill coiling tension adaptive control method, which uses an adaptive PI controller to realize the coiling tension closed-loop control, and adjusts the PI controller parameters according to the change of the mathematical model of the control object, and comprises the following steps:

[0050] S1: a dynamic response curve method is used to establish a mathematical model of the coiling tension control object, which comprises:

[0051] S101: set the equivalent mathematical model formula of the control object;

[0052] S102: In the winding tension open-loop control state, a step signal with A% of the set tension value is inputted, and the dynamic response data of the control object are collected, including the load torque and the actual tension value; A% is the set additional percentage of the set tension value;

[0053] S103: The gain coefficient K of the control object varies with the roll diameter D, the range of the roll diameter D is divided into n segments, and the control object gain coefficient K at each roll diameter segment endpoint is calculated from the dynamic response initial tension actual value, the dynamic response end tension actual value, the dynamic response initial torque actual value and the dynamic response end torque actual value at each roll diameter segment endpoint i ;

[0054] S104: The two roll diameter segment endpoints are segmented linearly, the functional relationship between the control object gain coefficient K and the roll diameter D is established, and the gain coefficient K between the two roll diameter segment endpoints is calculated from the control object gain coefficient of the roll diameter segment endpoint, the maximum roll diameter, the minimum roll diameter and the current roll diameter (i,i+1) ; Thus, the control object mathematical model is completed;

[0055] S2: Based on the control object mathematical model established in step S1, a tension closed-loop control system simulation model is established, and the PI controller parameters are tuned, including:

[0056] S201: Based on the control object mathematical model, a tension closed-loop control system simulation model is established, m kinds of working conditions are divided according to the roll diameter D from small to large according to the controller performance index requirements, and m PI controller parameters are tuned, including the proportional constant K P1 ......K Pj ......K Pm and the integral constant K I1 ......K Ij ......K Im ;

[0057] S202: According to the above m kinds of working conditions of the roll diameter D, the PI controller parameters are segmented linearly; the functional relationship between the PI controller parameters and the roll diameter D is established;

[0058] The proportional constant KP between the two roll diameter segment endpoints is obtained from the proportional constant of the roll diameter segment endpoint, the maximum roll diameter, the minimum roll diameter and the current roll diameter (j,j+1) ;

[0059] The proportional constant KI between the two roll diameter segment endpoints is obtained from the integral constant of the roll diameter segment endpoint, the maximum roll diameter, the minimum roll diameter and the current roll diameter (j,j+1) .

[0060] In this embodiment, in step S101, the controlled object is equivalent to a first-order inertial element with pure time delay, the control object gain coefficient K, the object time constant T, and the pure time delay time constant τ.

[0061]

[0062] In this embodiment, in step S103, the gain coefficient K of the controlled object at each end of the roll diameter segment is calculated. i :

[0063]

[0064] F act0 - The actual value of the initial tension of the dynamic response at each end of the roll diameter segment;

[0065] F act1 - Actual value of dynamic response termination tension at the end of each roll diameter segment;

[0066] TQ act0 - Actual value of the initial torque of the dynamic response at each end of the roll diameter segment;

[0067] TQ act1 - Actual value of dynamic response termination torque at each end of the roll diameter segment.

[0068] In this embodiment, in step S104, a functional relationship is established between the control object gain coefficient K and the roll diameter D:

[0069] Minimum roll diameter D at both ends of the roll diameter segment min and maximum roll diameter D max The maximum value K of the control object gain coefficient at the two endpoints of the corresponding roll diameter segment max and minimum value K min That is, K i+1 and K i The maximum and minimum values ​​in the range, and the gain coefficient K between the endpoints of the two roll diameter segments. (i,i+1) Represented as:

[0070]

[0071] D is the current volume diameter;

[0072] K i The gain coefficient of the control object at the endpoint of the i-th roll diameter segment;

[0073] K i+1 The gain coefficient of the control object at the endpoint of the (i+1)th roll diameter segment.

[0074] In the step S203, the function relationship between the PI controller parameters and the roll diameter is established, and the proportional constant Kp between the two end points of the roll diameter section is obtained according to the maximum value Kp max and the minimum value Kp min of K Pj and K Pj+1 , the maximum roll diameter D max , the minimum roll diameter D min of the two end points of the roll diameter section, and the current roll diameter D. (j,j+1) The proportional constant Kp between the two end points of the roll diameter section is:

[0075]

[0076] K Pj is the PI controller proportional constant of the jth end point of the roll diameter section;

[0077] K Pj+1 is the PI controller proportional constant of the j+1th end point of the roll diameter section.

[0078] In the step S203, the function relationship between the PI controller parameters and the roll diameter is established, and the integral constant KI between the two end points of the roll diameter section is obtained according to the maximum value KI max and the minimum value KI min of K Ij and K Ij+1 , the maximum roll diameter D max , the minimum roll diameter D min of the two end points of the roll diameter section, and the current roll diameter D. (j,j+1) The integral constant KI between the two end points of the roll diameter section is:

[0079]

[0080] K Ij is the PI controller integral constant of the jth end point of the roll diameter section;

[0081] K Ij+1 is the PI controller integral constant of the j+1th end point of the roll diameter section.

[0082] In the step S102, a step signal input of 3-8% of the set tension is added.

[0083] In the step S102, a step signal input of 3-8% of the set tension is added.

[0084] The embodiment also provides a system of a single-stand reversing rolling mill coiling tension adaptive control method, which comprises a control device and a detection unit and a controlled object connected to the control device, the controlled object is a rolling mill coiling device, the detection unit is used for real-time detection of a coiling diameter value, a tension actual value and a torque actual value, and the control device internally runs the single-stand reversing rolling mill coiling tension adaptive control method to control the rolling mill coiling device. The control device comprises a primary PLC, a secondary computer system and a simulation system. Specific embodiment one:

[0086] Taking a 20-roller single-stand reversing rolling mill as an example, the maximum strip tension is 200 kN, the coiling motor rated torque is 80350 nm, the nominal value is 1 pu, and the tension sensor measurement accuracy is ±0.5%; the adaptive PI controller is adopted to realize the closed-loop control of the coiling tension, the PI controller parameters are adaptively adjusted according to the mathematical model of the controlled object, and the controller performance index (controller parameter setting basis) overshoot is less than 2% and the regulation time is less than 1 s.

[0087] S1: The dynamic response curve method is adopted to establish a coiling tension control object mathematical model

[0088] 1) The control object is equivalent to a first-order inertia link with pure lag, the control object gain coefficient K, the object time constant T and the pure lag time constant τ are calculated;

[0089]

[0090] 2) The response curve method is adopted to establish a coiling tension control object mathematical model; the set tension F set The step signal input of 3-8% is added, the dynamic response data of the coiling tension control object is collected in the open-loop control state of the coiling tension, including the coiling transmission torque actual value TQ act , the tension actual value F act and the like;

[0091] 3) The range of the coiling diameter D is divided into n segments, the control object gain coefficient K i

[0092]

[0093] F act0 -dynamic response initial tension actual value;

[0094] F act1 -dynamic response end tension actual value;

[0095] TQ act0 -dynamic response initial torque actual value;

[0096] TQ act1- the actual value of the dynamic response end torque;

[0097] The roll diameter D ranges from 500 mm to 2000 mm, and in the embodiment, the roll diameter D is divided into four segments (arbitrary segmentation is allowed, which is not limited by the embodiment); the control object gain coefficient K is calculated: when the roll diameter D is 500 mm, K1 is 118; when the roll diameter D is 1000 mm, K2 is 87; when the roll diameter D is 1500 mm, K3 is 57; and when the roll diameter D is 2000 mm, K4 is 26.

[0098] The object time constant T is 230 ms, and the pure lag time constant τ is 40 ms.

[0099] 4) The control object gain coefficient K changes with the roll diameter D, the roll diameter ranges from 500 mm to 2000 mm, and a functional relationship between the control object gain coefficient K and the roll diameter D is established;

[0100] The minimum roll diameter D of the two endpoints of the roll diameter segment min and the maximum roll diameter D max The maximum value K max and the minimum value K min of the control object gain coefficient of the two endpoints of the corresponding roll diameter segment i+1 and K i The maximum value and the minimum value of K (i,i+1) and K i The gain coefficient K between the two roll diameter segment endpoints is expressed as:

[0101]

[0102] D is the current roll diameter;

[0103] K i+1 is the control object gain coefficient of the i-th roll diameter segment endpoint;

[0104] K P1 is the control object gain coefficient of the i+1-th roll diameter segment endpoint.

[0105] S2: Based on the control object mathematical model established in step S1, a tension closed-loop control system simulation model is established, and the PI controller parameters are tuned:

[0106] The tension closed-loop control system simulation model is established, and the PI controller parameters are tuned; according to the controller performance index requirements, in the embodiment, nine working conditions are divided according to the roll diameter from small to large D1, D2, D3, D4, D5, D6, D7, D8, and D9, and the PI controller parameters are tuned, the proportional coefficients K P2 , K P3 , K P4 , K P5 , K P6 , K P7 , and KP8 , K P9 Integral coefficient K I1 , K I2 , K I3 , K I4 , K I5 , K I6 , K I7 , K I8 , K I9 ;

[0107] Roll diameter (mm) 500 700 900 1100 1300 1500 1700 1900 2000 KPj 0.0058 0.0063 0.0071 0.0081 0.0095 0.012 0.015 0.021 0.026 KIj 0.0171 0.0189 0.0213 0.0242 0.0285 0.036 0.045 0.063 0.078

[0108] PI controller parameters of each roll diameter working condition section of simulation model setting in table 1

[0109] The function relationship between PI controller parameters and roll diameter is established, and the PI controller parameters are linearized in sections according to the above 9 working conditions, and the controller parameters in each section are represented as:

[0110]

[0111]

[0112] As shown in Figure 1 , the adaptive PI controller of the application is used to realize the closed loop control of coiling tension, the PI controller parameters are adaptively adjusted according to the change of the mathematical model of the control object, the overshoot of the controller performance index is less than 2%, and the regulation time is less than 1s.

[0113] Although the application is described herein with reference to particular embodiments, it is to be understood that these examples are merely illustrative of the principles and applications of the present application. It is therefore to be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It is to be understood that different dependent claims and features described herein can be combined with each other in different ways than those explicitly described. It is also to be understood that features described with respect to one embodiment can be used in other embodiments.

[0114] The above embodiments are implemented on the premise of the technical scheme of the application, and detailed implementation modes and specific operation processes are given, but the protection scope of the application is not limited to the above embodiments. All other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

Claims

1. A method for adaptive control of coiling tension in a single-stand reversible rolling mill, characterized in that, The control method described above uses an adaptive PI controller to achieve closed-loop control of winding tension. The PI controller parameters are adaptively adjusted according to changes in the mathematical model of the controlled object, and include the following steps: S1: A mathematical model of the winding tension control object is established using the dynamic response curve method, including: S101: Define the equivalent mathematical model formula for the controlled object; S102: In the open-loop control state of winding tension, a step signal input of A% plus the set tension value is used to collect the dynamic response data of the controlled object, including load torque and actual tension value; A% is the set additional percentage of the set tension value. S103: The gain coefficient K of the controlled object varies with the roll diameter D. The roll diameter D is divided into n segments. The gain coefficient K of the controlled object at each end of the roll diameter segment is calculated from the actual values ​​of the initial tension, the final tension, the initial torque, and the final torque of the dynamic response at the endpoints of each segment. i ; S104: Perform piecewise linearity between the endpoints of the two roll diameter segments, establish a functional relationship between the control object gain coefficient K and the roll diameter D, and calculate the gain coefficient K between the endpoints of the two roll diameter segments using the control object gain coefficient at the endpoints of the roll diameter segments, the maximum roll diameter, the minimum roll diameter, and the current roll diameter. (i,i+1) Thus, the mathematical model of the controlled object is completed; S2: Based on the mathematical model of the controlled object established in step S1, establish a simulation model of the tension closed-loop control system, and tune the PI controller parameters, including: S201: Establish a simulation model of the tension closed-loop control system based on the mathematical model of the controlled object. According to the controller performance requirements, divide the working conditions into m types according to the roll diameter D from small to large, and tune m sets of PI controller parameters, with the proportional constant K. P1 ......K Pj ......K Pm and integration constant K I1 ......K Ij ......K Im ; S202: According to the above m working conditions of the roll diameter D, the PI controller parameters are piecewise linearized; establish the functional relationship between the PI controller parameters and the roll diameter D; The proportional constant KP between the endpoints of two roll diameter segments is obtained from the proportional constant at the endpoints of the roll diameter segments, the maximum roll diameter, the minimum roll diameter, and the current roll diameter. (j,j+1) ; The integral constant KI between the endpoints of two volume diameter segments is obtained from the integral constants at the endpoints of the volume diameter segments, the maximum volume diameter, the minimum volume diameter, and the current volume diameter. (j,j+1) .

2. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S101, the controlled object is equivalent to a first-order inertial element with pure time delay, and the control object gain coefficient is K, the object time constant is T, and the pure time delay time constant is τ. 。 3. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S103, the gain coefficient K of the controlled object at each end of the roll diameter segment is calculated. i : ； - The actual value of the initial tension of the dynamic response at each end of the roll diameter segment; - Actual value of dynamic response termination tension at the end of each roll diameter segment; - Actual value of the initial torque of the dynamic response at each end of the roll diameter segment; - Actual value of dynamic response termination torque at each end of the roll diameter segment.

4. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S104, a functional relationship is established between the control object gain coefficient K and the roll diameter D: Minimum roll diameter D at both ends of the roll diameter segment min and maximum roll diameter D max The maximum value K of the control object gain coefficient at the two endpoints of the corresponding roll diameter segment max and minimum value K min That is, K i+1 and K i The maximum and minimum values ​​in the range, and the gain coefficient K between the endpoints of the two roll diameter segments. (i,i+1) Represented as: ； D is the current volume diameter; K i The gain coefficient of the control object at the endpoint of the i-th roll diameter segment; K i+1 The gain coefficient of the control object at the endpoint of the (i+1)th roll diameter segment.

5. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S203, a functional relationship is established between the PI controller parameters and the roll diameter, based on the maximum value of the proportional constant at the two endpoints of the roll diameter segment. and minimum value That is, K Pj and K Pj+1 The maximum and minimum values ​​in the range, and the maximum roll diameter D at the two endpoints of the roll diameter segment. max Minimum roll diameter D min The proportional constant KP between the endpoints of the two volume segments is derived from the current volume diameter D. (j,j+1) for: ； K Pj The proportional constant of the PI controller at the endpoint of the j-th roll diameter segment; K Pj+1 is the PI controller proportional constant at the endpoint of the (j+1)th roll diameter segment.

6. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S203, a functional relationship is established between the PI controller parameters and the roll diameter, based on the maximum value of the integral constant at the two endpoints of the roll diameter segment. and minimum value That is, K Ij and K Ij+1 The maximum and minimum values ​​in the range, and the maximum roll diameter D at the two endpoints of the roll diameter segment. max Minimum roll diameter D min The integral constant KI between the endpoints of the two volume segments is derived from the current volume diameter D. (j,j+1) for: ； K Ij Let be the integral constant of the PI controller at the endpoint of the j-th roll diameter segment; K Ij+1 Let be the integral constant of the PI controller at the (j+1)th roll diameter segment endpoint.

7. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S102, a step signal input of 3-8% is added to the set tension value.

8. The adaptive control method for coiling tension of a single-stand reversible rolling mill according to claim 1, characterized in that, In step S201, the parameters of the PI controller are tuned based on the following criteria: overshoot less than 2% and settling time less than 1 second.

9. A system for implementing the adaptive control method for coiling tension of a single-stand reversible rolling mill as described in claim 1, characterized in that, It includes a control device and a detection unit and a controlled object connected to it. The controlled object is the rolling mill coiling equipment. The detection unit is used to detect the coil diameter, actual tension, and actual torque in real time. The control device internally runs the single-stand reversible rolling mill coiling tension adaptive control method to control the rolling mill coiling equipment.

10. The system according to claim 9, characterized in that, The control device includes a primary PLC, a secondary computer system, and a simulation system.

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