A tension control and compensation method, device and storage medium for a looper mechanism
By calculating the production parameters and elastic stress of the looper mechanism and using a first-order filtering algorithm to compensate for the torque setpoint of the looper motor, the problem of unstable tension control during acceleration and deceleration of the looper mechanism was solved, thereby improving the stability and safety of the looper tension control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHOUGANG JINGTANG IRON & STEEL CO LTD
- Filing Date
- 2023-07-26
- Publication Date
- 2026-05-26
AI Technical Summary
During the cold rolling process of steel, the elastic deformation of the strip causes unstable tension control in the looper mechanism during acceleration and deceleration, resulting in oscillations that affect production safety.
By acquiring the production parameters of the looper mechanism, the actual speed deviation of the looper trolley and the elastic stress of the strip are calculated. A first-order filtering algorithm is used to improve accuracy, and the elastic stress is converted into an additional torque compensation to the torque setpoint of the looper motor, thereby achieving tension control compensation.
It effectively reduces the tension fluctuation of the looper strip, lowers the number of shutdown failures and the risk of strip breakage, and significantly improves the stability and safety of production.
Smart Images
Figure CN117019895B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tension control technology for looper mechanisms, and more specifically, to a tension control compensation method for a looper mechanism, a tension control compensation device for a looper mechanism, and a computer-readable storage medium. Background Technology
[0002] When an object is subjected to an external force, it will deform. When the external force is removed, the object can return to its original shape. This deformation is called elastic deformation. Its quantitative formula is E = f / ε (the unit is dynes / cm2), where E is Young's modulus, f is stress, and ε is strain.
[0003] During the cold rolling process of steel, the looper mechanism uses the strip steel to transmit torque. When the looper accelerates or decelerates, the elastic deformation of the strip steel is quite obvious, and the resulting stress has an adverse effect on the control of the looper tension.
[0004] In the cold rolling process of steel, the looper mechanism uses the strip steel for torque transmission. During acceleration and deceleration, the looper tension oscillates uncontrollably, posing a significant risk to the production line. One of the main contributing factors is the periodic elastic deformation of the strip steel during acceleration and deceleration, i.e., a periodic stretching and contraction. The stress generated by this elastic deformation acts on the strip steel, causing the looper tension to oscillate uncontrollably.
[0005] Therefore, there is an urgent need for a method to eliminate the stress generated by the elastic deformation of the strip during operation and to stabilize the control of the looper tension. Summary of the Invention
[0006] The embodiments of this application provide a tension control compensation method for a looper mechanism, a tension control compensation device for a looper mechanism, and a computer-readable storage medium. The method calculates the elastic stress of the strip steel in the looper mechanism based on the principle of elastic deformation, and compensates for the tension control of the looper mechanism based on the elastic stress.
[0007] 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.
[0008] According to a first aspect of the embodiments of this application, a tension control compensation method for a looper mechanism is provided, comprising:
[0009] Obtain the production parameters of the looper mechanism during strip rolling;
[0010] Calculate the actual speed deviation of the looper trolley in the looper mechanism based on production parameters;
[0011] The elastic stress of the strip in the looper mechanism is calculated based on the actual speed deviation value.
[0012] The tension is based on the elastic stress compensation looper mechanism.
[0013] In some embodiments of this application, based on the foregoing scheme, obtaining the production parameters of the looper mechanism during strip rolling includes:
[0014] Obtain the inlet strip speed, outlet strip speed, number of strip passes within the looper mechanism, and trolley speed of the looper mechanism.
[0015] In some embodiments of this application, based on the foregoing scheme, the calculation of the actual speed deviation value of the looper trolley in the looper mechanism based on production parameters includes:
[0016] The initial deviation of the actual speed of the looper trolley is calculated based on formula (1) using the inlet strip speed of the looper mechanism, the outlet strip speed of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism.
[0017]
[0018] In formula (1), α represents the initial deviation of the actual speed of the trolley, V en V represents the speed of the strip at the looper inlet. ex V represents the speed of the strip at the looper exit. loop N represents the linear velocity of the looper trolley, and N represents the number of times the steel track is carried inside the looper.
[0019] The initial deviation value of the actual speed of the trolley is processed by first-order filtering to obtain the actual speed deviation value of the trolley.
[0020] In some embodiments of this application, based on the foregoing scheme, the step of performing first-order filtering on the initial deviation value of the actual speed of the looper trolley includes:
[0021] The initial deviation of the actual speed of the looper trolley is filtered using a first-order filtering algorithm; the first-order filtering algorithm is shown in formula (2).
[0022]
[0023] In formula (2), Y is the filtered output value, Y last T is the filtered output value of the previous scan cycle. cyc T is the PLC scan cycle time. f denoted as the filtering time, x as the filtering input value, and k as the coefficient.
[0024] In some embodiments of this application, based on the foregoing scheme, the calculation of the elastic stress of the strip in the looper mechanism based on the actual speed deviation value includes:
[0025] Obtain the elastic stress coefficient of the strip in the looper mechanism;
[0026] Based on the initial deviation of the actual speed, the actual speed deviation, and the elastic stress coefficient, the elastic stress is calculated using formula (3).
[0027] F = E × (α―β); (3)
[0028] In formula (3), F represents elastic stress, E represents elastic stress coefficient, α represents the initial deviation of actual velocity, and β represents the actual velocity deviation.
[0029] In some embodiments of this application, based on the foregoing scheme, the compensation for tension control of the looper mechanism based on the elastic stress includes:
[0030] The elastic stress is converted into additional torque and then compensated to the torque setting value of the looper motor in the looper mechanism.
[0031] According to a second aspect of the embodiments of this application, a tension control and compensation device for a looper mechanism is provided, comprising:
[0032] The acquisition unit is used to acquire the production parameters of the looper mechanism during strip rolling.
[0033] The first calculation unit is used to calculate the actual speed deviation of the looper trolley in the looper mechanism based on production parameters.
[0034] The second calculation unit is used to calculate the elastic stress of the strip in the looper mechanism based on the actual speed deviation value.
[0035] The compensation unit is used to compensate for the tension control of the looper mechanism based on the elastic stress.
[0036] In some embodiments of this application, based on the aforementioned scheme, the production parameters include: the strip speed at the inlet of the looper mechanism, the strip speed at the outlet of the looper mechanism, the number of strip passes within the looper mechanism, and the trolley speed of the looper mechanism.
[0037] In some embodiments of this application, based on the foregoing scheme, the compensation for tension control of the looper mechanism based on the elastic stress includes:
[0038] The elastic stress is converted into additional torque and then compensated for to the torque setpoint of the looper mechanism tension control.
[0039] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect.
[0040] The technical solution of this application first determines the actual speed deviation value of the looper mechanism by using the production parameters of the looper mechanism when rolling strip steel, then determines the elastic stress of the strip steel by using the actual speed deviation value of the looper mechanism, and finally uses the elastic stress to compensate for the tension control of the looper mechanism.
[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 schematic flowchart of a tension control compensation method for a looper mechanism according to an embodiment of this application is shown.
[0044] Figure 2 A schematic diagram of a looper mechanism according to an embodiment of this application is shown;
[0045] Figure 3 A block diagram of a tension control compensation device for a looper mechanism according to an embodiment of this application is shown. Detailed Implementation
[0046] 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.
[0047] 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.
[0048] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.
[0049] 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.
[0050] 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.
[0051] 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.
[0052] See Figure 1 The diagram shows a flow chart of a tension control compensation method for a looper mechanism according to an embodiment of this application.
[0053] like Figure 1 As shown, a tension control compensation method for a looper mechanism is illustrated, specifically including steps S100 to S400.
[0054] Step S100: Obtain the production parameters of the looper mechanism when rolling strip steel.
[0055] It should be noted that during the operation of the strip steel, the first purpose of setting up the looper mechanism is to store excess strip steel between production line areas as a strip steel storage device to ensure that the production line does not stop and to keep the looping quantity controllable through the adjustment of the looper height control system; the second purpose is to act as an actuator to control the constant tension of the strip steel to avoid the phenomena of steel pulling, steel piling, and deviation, and to minimize the coupling and mutual interference between functional areas caused by the change of strip steel tension.
[0056] The structure of the looper mechanism in this embodiment is as follows: Figure 2As shown, it consists of a looper motor, a looper trolley, a looper inlet tension roller, and a looper outlet tension roller. The strip enters from the looper inlet tension roller, passes through the looper trolley, and exits from the looper outlet tension roller. The strip is in a taut state in the looper mechanism. In order to confirm the elastic stress of the strip in the taut state, it is necessary to confirm the various parameters of the strip in the looper mechanism.
[0057] Specifically, in this embodiment, obtaining the production parameters of the looper mechanism during strip rolling includes:
[0058] Obtain the inlet strip speed, outlet strip speed, number of strip passes within the looper mechanism, and trolley speed of the looper mechanism.
[0059] Continue to refer to Figure 1 Step S200: Calculate the actual speed deviation of the looper trolley in the looper mechanism based on the production parameters.
[0060] It is understandable that, such as Figure 2 As shown, the looper carriage is driven by the looper motor. The strip is fitted onto the looper carriage. When the looper carriage is running, it drives the strip. The elastic stress of the strip itself is closely related to the operating parameters of the looper carriage.
[0061] In some feasible embodiments, step S200 specifically includes:
[0062] The initial deviation of the actual speed of the looper trolley is calculated based on formula (1) using the inlet strip speed of the looper mechanism, the outlet strip speed of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism.
[0063]
[0064] In formula (1), α represents the initial deviation of the actual speed of the trolley, V en V represents the speed of the strip at the looper inlet. ex V represents the speed of the strip at the looper exit. loop N represents the linear velocity of the looper trolley, and N represents the number of times the steel track is carried inside the looper.
[0065] The initial deviation value of the actual speed of the trolley is processed by first-order filtering to obtain the actual speed deviation value of the trolley.
[0066] Understandably, filtering the initial deviation value of the actual speed of the looper trolley to obtain the actual speed deviation value can improve the accuracy of the actual speed deviation value.
[0067] In some feasible embodiments, the first-order filtering of the initial deviation value of the actual speed of the looper trolley includes:
[0068] The initial deviation of the actual speed of the looper trolley is filtered using a first-order filtering algorithm; the first-order filtering algorithm is shown in formula (2).
[0069]
[0070] In formula (2), Y is the filtered output value, Y last T is the filtered output value of the previous scan cycle. cyc T is the PLC scan cycle time. f denoted as the filtering time, x as the filtering input value, and k as the coefficient.
[0071] Continue to refer to Figure 1 Step S300: Calculate the elastic stress of the strip in the looper mechanism based on the actual speed deviation value.
[0072] In some feasible embodiments, step S300 specifically includes:
[0073] Obtain the elastic stress coefficient of the strip in the looper mechanism;
[0074] Based on the initial deviation of the actual speed, the actual speed deviation, and the elastic stress coefficient, the elastic stress is calculated using formula (3).
[0075]
[0076] In formula (3), F represents elastic stress, E represents elastic stress coefficient, α represents the initial deviation of actual velocity, and β represents the actual velocity deviation.
[0077] Continue to refer to Figure 1 Step S400, based on the tension of the elastic stress compensation looper mechanism.
[0078] It is understandable that the tension of the looper mechanism is mainly generated by the elastic stress produced by the deformation of the strip. Therefore, the tension of the looper structure can be accurately compensated based on the elastic stress of the strip, thus achieving tension control and compensation of the looper mechanism.
[0079] In some feasible embodiments, step S400 includes:
[0080] The elastic stress is converted into additional torque and then compensated to the torque setting value of the looper motor in the looper mechanism.
[0081] It is understandable that the looper mechanism mainly relies on the looper motor to drive the looper to move off the machine, thereby driving the strip steel. In this embodiment, the torque source is the looper motor in the looper mechanism. By adjusting the torque of the looper motor, the movement of the strip steel is adjusted, thereby achieving tension control compensation for the looper mechanism.
[0082] Using this method to compensate for the tension control of the looper can offset the stress generated by the elastic deformation of the wire rope, solve the problem of tension oscillation and uncontrollability, and significantly reduce the tension fluctuation of the looper strip from 80% to 20%. The number of shutdown failures caused by tension operation problems has been significantly reduced, and the risk of strip breakage inside the looper during operation has been eliminated. According to the calculation of shutdown and strip breakage accidents, about 100,000 yuan in losses are avoided every year.
[0083] The following describes an embodiment of the apparatus described in this application, which can be used to execute a tension control and compensation method for a looper mechanism as described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.
[0084] Reference Figure 3 As shown, a tension control compensation device 300 for a looper mechanism according to an embodiment of this application includes: an acquisition unit 301, a first calculation unit 302, a second calculation unit 303, and a compensation unit 304.
[0085] The unit 301 is used to acquire the production parameters of the looper mechanism when rolling strip steel; the first calculation unit 302 is used to calculate the actual speed deviation value of the looper carriage in the looper mechanism based on the production parameters; the second calculation unit 303 is used to calculate the elastic stress of the strip steel in the looper mechanism based on the actual speed deviation value; and the compensation unit 304 is used to compensate for the tension control of the looper mechanism based on the elastic stress.
[0086] In some feasible embodiments, the acquisition unit 301 is configured to acquire the inlet strip speed of the looper mechanism, the outlet strip speed of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism.
[0087] In some feasible embodiments, the first calculation unit 302 includes: a first calculation subunit, which is used to calculate the initial deviation value of the actual speed of the looper trolley based on formula (4) using the inlet strip line speed of the looper mechanism, the outlet strip line speed of the looper mechanism, the number of times the strip is passed through the looper mechanism and the trolley line speed of the looper mechanism.
[0088]
[0089] In formula (4), α represents the initial deviation of the actual speed of the trolley, V en V represents the speed of the strip at the looper inlet. ex V represents the speed of the strip at the looper exit. loopThe linear velocity of the looper trolley is represented by N, which represents the number of times the looper carries the steel track. The filtering unit is used to perform a first-order filter on the initial deviation value of the actual velocity of the looper trolley to obtain the actual velocity deviation value of the looper trolley.
[0090] In some feasible embodiments, the filtering unit is configured to: perform first-order filtering on the initial deviation value of the actual speed of the looper trolley using a first-order filtering algorithm; the first-order filtering algorithm is shown in formula (5);
[0091]
[0092] In formula (5), Y is the filtered output value. last T is the filtered output value of the previous scan cycle. cyc T is the PLC scan cycle time. f denoted as the filtering time, x as the filtering input value, and k as the coefficient.
[0093] In some feasible embodiments, the second computing unit 303 is configured as follows:
[0094] Obtain the elastic stress coefficient of the strip in the looper mechanism;
[0095] Based on the initial deviation of the actual velocity, the actual velocity deviation, and the elastic stress coefficient, the elastic stress is calculated using formula (6).
[0096] F = E × (α - β); (6)
[0097] In formula (6), F represents elastic stress, E represents elastic stress coefficient, α represents the initial deviation of actual velocity, and β represents the actual velocity deviation.
[0098] In some feasible embodiments, the compensation unit 304 is configured to convert the elastic stress into an additional torque and then compensate the torque setpoint of the looper motor in the looper mechanism.
[0099] In another aspect, this application also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the tension control compensation method for a looper mechanism described in the above embodiments.
[0100] In another aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the tension control compensation method for a looper mechanism described in the above embodiments.
[0101] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.
[0102] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.
[0103] 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. A tension control compensation method of a loop mechanism, characterized by, include: Obtain the production parameters of the looper mechanism during strip rolling; The initial deviation of the actual speed of the looper trolley is calculated based on formula (1) using the inlet strip speed of the looper mechanism, the outlet strip speed of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism. ； （1） In formula (1), represents the initial deviation value of the actual speed of the loop trolley, represents the strip linear speed at the loop entry, represents the strip linear speed at the loop exit, represents the linear speed of the loop trolley, represents the number of strip passes in the loop. The initial deviation value of the actual speed of the looper trolley is processed by a first-order filtering algorithm to obtain the actual speed deviation value of the looper trolley; the first-order filtering algorithm is shown in formula (2); ； （2） In formula (2), This is the filtered output value. This is the filtered output value from the previous scan cycle. This refers to the PLC scan cycle time. For filtering time, For the filter input value, For coefficients; Obtain the elastic stress coefficient of the strip in the looper mechanism; Based on the initial deviation of the actual speed, the actual speed deviation, and the elastic stress coefficient, the elastic stress is calculated based on formula (3); ； （3） In formula (3), Represents elastic stress. Represents the elastic stress coefficient. This represents the initial deviation value of the actual speed. This indicates the actual speed deviation value; The tension is based on the elastic stress compensation looper mechanism.
2. The method according to claim 1, characterized in that, The process of obtaining production parameters for the looper mechanism during strip rolling includes: Obtain the inlet strip speed, outlet strip speed, number of strip passes within the looper mechanism, and trolley speed of the looper mechanism.
3. The method according to claim 1, characterized in that, The tension based on the elastic stress compensation looper mechanism includes: The elastic stress is converted into additional torque and then compensated to the torque setting value of the looper motor in the looper mechanism.
4. A tension control and compensation device for a looper mechanism, characterized in that, include: The acquisition unit is used to acquire the production parameters of the looper mechanism during strip rolling. The first calculation unit is used to calculate the initial deviation value of the actual speed of the looper trolley based on formula (1) using the inlet strip speed of the looper mechanism, the outlet strip speed of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism. ； （1） In formula (1), This represents the initial deviation of the actual speed of the trolley. Indicates the speed of the steel wire entering the looper. Indicates the speed of the strip at the looper outlet. This indicates the linear velocity of the looper trolley. Indicates the number of times the looper contains steel rails; The initial deviation value of the actual speed of the looper trolley is processed by a first-order filtering algorithm to obtain the actual speed deviation value of the looper trolley; the first-order filtering algorithm is shown in formula (2); ； （2） In formula (2), This is the filtered output value. This is the filtered output value from the previous scan cycle. This refers to the PLC scan cycle time. For filtering time, For the filter input value, For coefficients; The second calculation unit is used to obtain the elastic stress coefficient of the strip in the looper mechanism; Based on the initial deviation of the actual speed, the actual speed deviation, and the elastic stress coefficient, the elastic stress is calculated based on formula (3); ； （3） In formula (3), Represents elastic stress. Represents the elastic stress coefficient. This represents the initial deviation value of the actual speed. This indicates the actual speed deviation value; The compensation unit is used to compensate for the tension control of the looper mechanism based on the elastic stress.
5. The apparatus according to claim 4, characterized in that, The production parameters include: the strip speed at the inlet of the looper mechanism, the strip speed at the outlet of the looper mechanism, the number of times the strip passes through the looper mechanism, and the trolley speed of the looper mechanism.
6. The apparatus according to claim 4, characterized in that, The compensation for tension control of the looper mechanism based on the elastic stress includes: The elastic stress is converted into additional torque and then compensated for to the torque setpoint of the looper mechanism tension control.
7. A computer-readable storage medium, characterized in that, The readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1-3.