Automatic control method for bending roll insertion amount of a tension and straightening unit and storage medium

Abstract

The embodiment of the application provides a method for automatically controlling the bending roll insertion amount of a tension leveler unit and a storage medium, and relates to the technical field of bending roll insertion amount control. The method comprises the following steps: calculating the actual elongation of a strip steel according to the outlet tension roll speed and the inlet tension roll speed of the tension leveler unit; calculating the difference between the actual elongation and the set elongation; and adjusting the bending roll insertion amount based on the difference. The technical scheme of the application proposes a quantitative relationship between the elongation and the insertion amount. Different tension leveler units can be optimized on the basis of the formula, smooth dynamic adjustment of the insertion amount according to the elongation is realized, and the problems of slow manual adjustment speed of the bending roll insertion amount and large actual elongation fluctuation are solved.

Description

Technical Field

[0001] This application relates to the field of bending roll insertion control technology, and more specifically, to an automatic control method for bending roll insertion of a tension leveling unit, a computer-readable storage medium, and an electronic device. Background Technology

[0002] The strip straightening unit mainly controls the straightening of the strip by controlling the elongation rate. The elongation rate control methods are divided into constant tension with variable insertion amount and constant insertion amount with variable tension modes. The constant insertion amount with variable tension mode adjusts the motor torque in real time to ensure the strip's elongation rate. However, the motor torque affects the motor speed, therefore, the strip's elongation rate is inaccurate during measurement. The constant insertion amount with variable tension mode does not change the motor torque during strip straightening. Some steel mills use this mode to measure the actual elongation rate in real time during the straightening process.

[0003] Currently, the industry typically relies on operators to manually adjust the insertion amount of the bending rolls, and after one adjustment at the head of the strip, no further adjustments are made during subsequent production. This method is inefficient, and the actual elongation of the entire strip along the rolling direction fluctuates greatly, resulting in low control precision. Therefore, there is a need to develop an automatic control method for the insertion amount of the bending rolls to achieve accurate and rapid control of the elongation. Summary of the Invention

[0004] The embodiments of this application provide an automatic control method for the insertion amount of the bending roller in a tension leveling unit, a computer-readable storage medium, and an electronic device, which solve the problems of slow manual adjustment speed of the bending roller insertion amount and large fluctuations in the actual elongation.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, an automatic control method for the insertion amount of bending rollers in a tension leveling unit is provided, comprising:

[0007] The actual elongation of the strip is calculated based on the exit tension roll speed and the inlet tension roll speed of the tension leveler unit.

[0008] Calculate the difference between the actual elongation and the set elongation;

[0009] The insertion amount of the bending roller is adjusted based on the difference.

[0010] In some embodiments of this application, based on the foregoing scheme, the calculation of the actual elongation of the strip according to the exit tension roll speed and the inlet tension roll speed of the tension leveler includes:

[0011] Obtain the exit tension roller speed and the inlet tension roller speed;

[0012] Linear filtering is applied to the exit tension roller speed and the inlet tension roller speed, respectively.

[0013] Based on the filtered exit tension roll speed and inlet tension roll speed, the actual elongation of the strip is calculated using formula (1).

[0014]

[0015] In equation (1), S represents the actual elongation, and V a V represents the speed of the filtered outlet tension roller. b This indicates the speed of the inlet tension roller after filtering.

[0016] In some embodiments of this application, based on the foregoing scheme, the linear filtering processing of the outlet tension roller speed and the inlet tension roller speed includes:

[0017] Obtain the exit tension roller speed and inlet tension roller speed for the first two cycles of filtering;

[0018] The exit tension roller speed and the inlet tension roller speed of the current cycle are linearly filtered using formula (2);

[0019] out(n)=(out(n-1)+input+out(n-2)) / 3; (2)

[0020] In equation (2), out(n) represents the current cycle's exit tension roller speed or the current cycle's inlet tension roller speed obtained after filtering; out(n-1) represents the first cycle's exit tension roller speed or the first cycle's inlet tension roller speed before filtering; out(n-2) represents the second cycle's exit tension roller speed or the second cycle's inlet tension roller speed before filtering; and input represents the current cycle's exit tension roller speed or the current cycle's inlet tension roller speed before filtering.

[0021] In some embodiments of this application, based on the foregoing scheme, adjusting the bending roller insertion amount based on the difference includes:

[0022] Determine whether the difference is within the set error range. If the difference is not within the set error range, adjust the insertion amount of the bending roller.

[0023] In some embodiments of this application, based on the foregoing scheme, adjusting the insertion amount of the bending roller includes:

[0024] When the actual elongation is greater than the set elongation, reduce the insertion amount of the bending roller; when the actual elongation is less than the set elongation, increase the insertion amount of the bending roller.

[0025] In some embodiments of this application, based on the foregoing scheme, the value of the increased or decreased bending roller insertion amount is calculated by formula (3);

[0026] y = A(e 10u(k) ―1); (3)

[0027] In formula (3), y represents the bending roller insertion amount, A represents the fine adjustment amplitude of the bending roller insertion amount, and u(k) represents the absolute value of the difference between the actual elongation and the set elongation.

[0028] In some embodiments of this application, based on the foregoing scheme, the following further methods are also included:

[0029] Adjust the bending roller to the target position based on the increase or decrease in bending roller insertion amount;

[0030] During the process of adjusting the bending roller to the target position, it is necessary to determine whether the target position of the bending roller exceeds the limit position;

[0031] If the bending roller insertion exceeds the limit position, then reduce the absolute value of the bending roller increment before exceeding the limit position.

[0032] In some embodiments of this application, based on the foregoing scheme, adjusting the insertion amount of the bending roller further includes:

[0033] When the difference in the current cycle is equal to the negative of the difference in the previous cycle, the bending roller insertion amount in the current cycle is adjusted using formula (4).

[0034] y = BA(e 10u(k) ―1); (4)

[0035] In formula (4), y represents the bending roller insertion amount; B is a constant with a value range of 0-1; A represents the fine adjustment amplitude of the bending roller insertion amount; and u(k) represents the absolute value of the difference between the actual elongation and the set elongation.

[0036] According to a second aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein computer instructions are stored on the computer storage medium, and the computer instructions, when executed on a computer, cause the computer to perform the method described in the first aspect above.

[0037] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor;

[0038] The memory is used to store instructions;

[0039] The processor is configured to invoke instructions stored in the memory, causing the electronic device to execute the method described in the first aspect above.

[0040] The technical solution of this application proposes a quantitative relationship between elongation and insertion amount. Different strip straightening units can be optimized based on this formula to achieve smooth dynamic adjustment of insertion amount according to elongation. At the same time, the automatic adjustment of insertion amount realizes closed-loop control of elongation during the entire strip straightening process, which greatly ensures the consistency of fiber elongation of strip along the rolling direction. Moreover, the technical solution of this application avoids the need for continuous experimental adjustment of coefficients when using traditional PID control, and has the advantage of rapid adjustment. It also fully considers the influence of proportional control and integral control on steady-state error and frequent vibration caused by insertion amount, and realizes continuous adjustment control of insertion amount.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0043] Figure 1 A flowchart illustrating an automatic control method for bending roller insertion of a tension leveling unit according to an embodiment of this application is shown.

[0044] Figure 2 A schematic diagram of a tension leveling unit according to an embodiment of this application is shown. Detailed Implementation

[0045] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0046] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0047] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0049] The following detailed description of some embodiments of this application will be provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0050] See Figure 1 The diagram shows a flowchart illustrating an automatic control method for the insertion amount of bending rollers in a tension leveling unit according to an embodiment of this application.

[0051] The bending rollers of the straightening unit are driven and controlled by a variable frequency motor, which has a short response time and fast control speed. Its main function is to apply bending force to the strip steel to cause plastic deformation, thereby achieving the set elongation rate and eliminating strip steel shape defects.

[0052] The automatic control method for bending rollers in a tension leveling unit dynamically adjusts the elongation rate during the tension leveling process based on the deviation between the actual elongation rate and the set value, thus achieving dynamic control of the actual elongation rate.

[0053] like Figure 1 As shown, an automatic control method for the insertion amount of bending rollers in a tension leveling unit is illustrated, specifically including steps S100 to S300.

[0054] Step S100: Calculate the actual elongation of the strip based on the exit tension roll speed and the inlet tension roll speed of the tension leveler unit.

[0055] It should be noted that the structure of the tension leveling unit is as follows: Figure 2 As shown, it includes an inlet tension roller group 1, a pressure roller 2, a first bending unit 3, a second bending unit 4, a straightening unit 5, an outlet tension roller group 6, a hydraulic drive unit 7, a variable frequency motor unit 8, an insertion adjustment device for bending rollers and straightening rollers 9, and a programmable control unit 10.

[0056] If the bending elongation stress of the strip is insufficient to reach the yield stress when it passes through the tension leveler, meaning no plastic deformation occurs, the strip will not undergo plastic deformation. In the same amount of time, the strip will pass the same length through the inlet and outlet tension rollers, indicating that their speeds are equal. However, if the insertion depth of the bending rollers is sufficiently large, the strip will undergo plastic deformation. In the same amount of time, the fiber length passing through the outlet tension rollers will be greater than that passing through the inlet tension rollers. This indicates that deformation has occurred in the tension leveler, and the actual elongation of the strip can be determined by the speeds of the outlet and inlet tension rollers.

[0057] In some feasible embodiments, step S100 specifically includes:

[0058] Step S110: Obtain the exit tension roller speed and the inlet tension roller speed;

[0059] Step S120: Perform linear filtering on the exit tension roller speed and the inlet tension roller speed respectively;

[0060] Step S130: Based on the filtered exit tension roll speed and inlet tension roll speed, calculate the actual elongation of the strip using formula (1);

[0061]

[0062] In equation (1), S represents the actual elongation, and V a V represents the speed of the filtered outlet tension roller. b This indicates the speed of the inlet tension roller after filtering.

[0063] It is understandable that filtering the exit tension roller speed and the inlet tension roller speed is to eliminate the interference caused by environmental factors on the motor encoder.

[0064] In some feasible embodiments, step S120 specifically includes:

[0065] Obtain the exit tension roller speed and inlet tension roller speed for the first two cycles of filtering;

[0066] The exit tension roller speed and the inlet tension roller speed of the current cycle are linearly filtered using formula (2);

[0067] out(n)=(out(n-1)+input+out(n-2)) / 3; (2)

[0068] In equation (2), out(n) represents the exit tension roller speed of the current cycle after filtering or the inlet tension roller speed of the current cycle after filtering; out(n-1) represents the exit tension roller speed of the first cycle before filtering or the inlet tension roller speed of the first cycle before filtering; out(n-2) represents the exit tension roller speed of the second cycle before filtering or the inlet tension roller speed of the second cycle before filtering; input represents the exit tension roller speed of the current cycle before filtering or the inlet tension roller speed of the current cycle before filtering. Input can be calculated based on the motor speed.

[0069] Continue to refer to Figure 1 Step S200: Calculate the difference between the actual elongation and the set elongation.

[0070] It is understood that the set elongation rate refers to a production target requirement for the produced strip steel, and the produced strip steel must meet the set elongation rate. In this embodiment, the difference obtained by subtracting the set elongation rate from the calculated actual elongation rate may be positive or negative. A positive difference indicates that the actual elongation rate is greater than the set elongation rate, and a negative difference indicates that the actual elongation rate is less than the set elongation rate.

[0071] Continue to refer to Figure 1 Step S300: Adjust the bending roller insertion amount based on the difference.

[0072] Understandably, there is usually an error range between the actual elongation and the set elongation. By comparing the difference with this error range, it can be determined whether the insertion amount of the bending roller needs to be adjusted.

[0073] In some feasible embodiments, adjusting the bending roller insertion amount based on the difference includes:

[0074] Determine whether the difference is within the set error range. If the difference is not within the set error range, adjust the insertion amount of the bending roller.

[0075] When the difference is within the set error range, it indicates that the actual elongation is close to the set elongation, and the produced strip meets the production requirements and no correction is needed. When the difference is not within the set error range, it indicates that the actual elongation is different from the set elongation and the insertion amount of the bending roll needs to be corrected to change the deformation process of the strip in the tension leveling unit and increase or decrease the actual elongation.

[0076] In some feasible embodiments, adjusting the bending roller insertion amount includes:

[0077] When the actual elongation is greater than the set elongation, reduce the insertion amount of the bending roller; when the actual elongation is less than the set elongation, increase the insertion amount of the bending roller.

[0078] It is understandable that during the strip stretching process, the more the bending roller is inserted and the farther the bending roller is located, the greater the stretching of the strip and the greater the actual elongation.

[0079] In some feasible embodiments, the value of the increase or decrease in the bending roller insertion amount is calculated by formula (3);

[0080] y = A(e 10u(k) ―1); (3)

[0081] In formula (3), y represents the bending roller insertion amount, A represents the fine adjustment amplitude of the bending roller insertion amount, and u(k) represents the absolute value of the difference between the actual elongation and the set elongation.

[0082] It is understandable that the formula above calculates a numerical value. Adding "+" before the value indicates an increase in the bending roller insertion amount, or adding "-" before the value indicates a decrease in the bending roller insertion amount. For example, if the calculated bending roller insertion amount is 2, then +2 means that the bending roller insertion amount needs to be increased by 2mm, and -2 means that the bending roller insertion amount needs to be decreased by 2mm.

[0083] Therefore, for convenience, in this embodiment, the formulas for increasing the insertion amount of the bending roller and decreasing the insertion amount of the bending roller are stated separately, as follows:

[0084] y = A(e 10u(k) ―1); (4)

[0085] y = ―A(e 10u(k) ―1); (5)

[0086] Formula (4) is the formula for increasing the insertion amount of the bending roller, and formula (5) is the formula for decreasing the insertion amount of the bending roller.

[0087] In some feasible embodiments, when the difference of the current cycle is equal to the negative of the difference of the previous cycle, i.e., u(k) = -u(k-1), the bending roller insertion amount of the current cycle is adjusted using formula (6);

[0088] y = BA(e 10u(k) ―1); (6)

[0089] In formula (6), y represents the bending roller insertion amount; B is a constant with a value range of 0-1; A represents the fine adjustment amplitude of the bending roller insertion amount; and u(k) represents the absolute value of the difference between the actual elongation and the set elongation.

[0090] It is understandable that steady-state errors may exist during the adjustment process. That is, when the difference between the actual elongation and the set elongation in the previous cycle is positive, the difference in the next cycle is negative, and the difference value in the next cycle is the same as that in the previous cycle, then this will continue to repeat, and the actual elongation will never reach the set elongation. The bending roller will oscillate up and down continuously. This not only reduces the life of the motor, but also the accuracy of automatic control of elongation is far less than that of manual control. Therefore, in order to solve this steady-state error problem, when u(k) = -u(k-1) occurs, the bending roller insertion amount in the current cycle is adjusted to a partial value of the bending roller insertion amount actually calculated in the current cycle. Under normal circumstances, it is adjusted to 80% of the actual calculated value. This can avoid the two adjustments being the same, thereby solving this steady-state error.

[0091] In some feasible embodiments, based on the foregoing scheme, this method further includes:

[0092] Adjust the bending roller to the target position based on the increase or decrease in bending roller insertion amount;

[0093] During the process of adjusting the bending roller to the target position, it is necessary to determine whether the target position of the bending roller exceeds the limit position;

[0094] If the bending roller insertion exceeds the limit position, then reduce the absolute value of the bending roller increment before exceeding the limit position.

[0095] It is understandable that the bending roller has a limit to its movement. When the bending roller moves to the limit position, it can no longer move. Therefore, during the process of increasing the insertion amount, it is necessary to observe the movement of the bending roller to ensure that the bending roller does not exceed the limit position.

[0096] In another aspect, this application also provides a computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform an automatic control method for the insertion amount of bending rollers in a tension leveling unit as described in the above embodiments.

[0097] In another aspect, embodiments of this application also provide an electronic device, including a memory and a processor;

[0098] The memory is used to store instructions;

[0099] The processor is used to call instructions stored in the memory, causing the electronic device to execute the automatic control method for the insertion amount of the bending roller of the tension leveling unit described in the above embodiment.

[0100] The following is an example of an actual implementation case to illustrate the automatic control method.

[0101] The bending roll stroke of a tension leveling unit is typically 40–50 mm, while the bending roll stroke at a certain steel plant is 45 mm. Therefore, the bending roll insertion depth A is set to 45 mm. In the actual straightening process adjustment, the bending roll is first moved to 20 mm, and then fine-tuned according to the actual elongation rate of the straightened roll.

[0102] The straightening setting is 2% elongation. Based on the fact that the exit tension roller's speed without filtering is 80 m / min, and the filtered speeds of the exit tension roller in the previous two tests were 59.8 m / min and 62.6 m / min respectively, then the filtered speed of the exit tension roller in this test is:

[0103] V=(61.5+59.8+62.6) / 3=67.4m / min;

[0104] The inlet tension roller was calculated using the same method as above. After filtering, the speed of the tension roller was 66.4 m / min. Therefore, the actual elongation of the strip was:

[0105]

[0106] At this point, the difference between the actual elongation of the strip and the set elongation is u(k) = 2% - 1.5% = 0.5%. If the difference is not within the normal error range of ±0.1%, the insertion amount will be automatically adjusted. The adjustment amount is:

[0107] y = 45 × (e 10×0.005 ―1)=2mm;

[0108] After adjustment, the speed of the outlet tension roller after filtering became 67.6 m / min, and the elongation was 1.8%. Therefore, further adjustment is needed, with the adjustment amount being y = 45 × (e...). 10×0.002 ―1)=1mm, at this time the speed of the tension roller becomes 67.7m / min, then the actual elongation is 1.96%, which is within the error range. The automatic adjustment of the insertion amount ends, and it will be adjusted again after the actual elongation changes again.

[0109] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0111] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. It should be understood that this application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An automatic control method for the insertion amount of bending rollers in a tension leveling unit, characterized in that, include: The actual elongation of the strip is calculated based on the exit tension roll speed and the inlet tension roll speed of the tension leveler unit. Calculate the difference between the actual elongation and the set elongation; Adjust the bending roller insertion amount based on the difference; The adjustment of the bending roller insertion amount based on the difference includes: Determine whether the difference is within the set error range. If the difference is not within the set error range, adjust the insertion amount of the bending roller. When the actual elongation is greater than the set elongation, reduce the insertion amount of the bending roller; when the actual elongation is less than the set elongation, increase the insertion amount of the bending roller. The value of the increase or decrease in the bending roller insertion amount is calculated by formula (3); ； （3） In formula (3), y represents the bending roller insertion amount, and A represents the fine adjustment amplitude of the bending roller insertion amount. This represents the absolute value of the difference between the actual elongation and the set elongation. The adjustment of the bending roller insertion amount also includes: When the difference in the current cycle is equal to the negative of the difference in the previous cycle, the bending roller insertion amount in the current cycle is adjusted using formula (4). ； （4） In formula (4), y represents the bending roller insertion amount; B is a constant with a value range of 0-1; A represents the fine adjustment amplitude of the bending roller insertion amount. This represents the absolute value of the difference between the actual elongation and the set elongation.

2. The method according to claim 1, characterized in that, The calculation of the actual elongation of the strip based on the exit tension roll speed and the inlet tension roll speed of the tension leveler includes: Obtain the exit tension roller speed and the inlet tension roller speed; Linear filtering is applied to the exit tension roller speed and the inlet tension roller speed, respectively. Based on the filtered exit tension roll speed and inlet tension roll speed, the actual elongation of the strip is calculated using formula (1); ； （1） In equation (1), S represents the actual elongation. This indicates the speed of the filtered outlet tension roller. This indicates the speed of the inlet tension roller after filtering.

3. The method according to claim 2, characterized in that, The linear filtering process for the outlet tension roller speed and the inlet tension roller speed includes: Obtain the exit tension roller speed and inlet tension roller speed for the first two cycles of filtering; The exit tension roller speed and the inlet tension roller speed of the current cycle are linearly filtered using formula (2); ； （2） In equation (2), This indicates the exit tension roller speed or the inlet tension roller speed for the current cycle obtained after filtering. This indicates the exit tension roller speed or the inlet tension roller speed of the first cycle before filtering. This indicates the exit tension roller speed or the inlet tension roller speed of the second cycle before filtering. This indicates the exit tension roller speed or the inlet tension roller speed of the current cycle before filtering.

4. The method according to claim 1, characterized in that, Also includes: Adjust the bending roller to the target position based on the increase or decrease in bending roller insertion amount; During the process of adjusting the bending roller to the target position, it is necessary to determine whether the target position of the bending roller exceeds the limit position; If the bending roller insertion exceeds the limit position, then reduce the absolute value of the bending roller increment before exceeding the limit position.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the method described in any one of claims 1-4.

6. An electronic device, characterized in that, Including memory and processor; The memory is used to store instructions; The processor is configured to invoke instructions stored in the memory, causing the electronic device to execute the method according to any one of claims 1-4.

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