Loop control method, system, electronic device and storage medium

Abstract

The present invention provides a looper control method, system, electronic device and storage medium, the method comprising: obtaining the measured value of the looper's height; comparing the measured value of the height with the set value of the height to obtain a height error value; determining a target error interval corresponding to the height error value, and determining a target adjustment gain based on a control mapping table and the target error interval; wherein the control mapping table is used to characterize the correspondence between each error interval and the adjustment gain; calculating the height adjustment amount of the looper based on the target adjustment gain and the height error value; determining the adjustment speed change rate corresponding to the height adjustment amount, and controlling the looper's landing gear speed based on the adjustment speed change rate. The scheme provided by the present invention can make the looper height adjustment process more precise and stable due to the introduction of two parameters, the target adjustment gain and the adjustment speed change rate, in the control process, thereby improving the accuracy and reliability of the looper control process.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a looper control method, system, electronic equipment and storage medium. Background Art

[0002] In the steel rolling production line, in order to ensure the quality and precision of steel, a looper is needed to control the deformation and size during the rolling process. A looper is a device used to control the deformation and size of steel during the rolling process. It can keep the steel in a certain shape and size during the rolling process, thereby ensuring the quality and precision of the steel.

[0003] In the related art, since the loop control strategy is not precise enough, when the loop starting height is high, the loop height is prone to be unstable, causing the size of both sides of the finished product to change, and in severe cases, it may cause steel piling problems.

[0004] Therefore, the traditional looper control strategy has the problems of low accuracy and reliability. Summary of the invention

[0005] The invention provides a looper control method, system, electronic equipment and storage medium, which are used to solve the defects of low accuracy and reliability of traditional looper control strategies.

[0006] In a first aspect, the present invention provides a looper control method, the method comprising:

[0007] Get the measured value of the looper's height;

[0008] Compare the measured height value with the set height value to obtain a height error value;

[0009] Determine a target error interval corresponding to the height error value, and determine a target adjustment gain based on a control mapping table and the target error interval; wherein the control mapping table is used to characterize a corresponding relationship between each error interval and an adjustment gain;

[0010] Based on the target adjustment gain and the height error value, a height adjustment amount of the looper is calculated;

[0011] The adjustment speed change rate corresponding to the height adjustment amount is determined, and the landing gear speed of the looper is controlled based on the adjustment speed change rate.

[0012] According to the looper control method provided by the present invention, the looper is arranged between the upstream rolling mill and the downstream rolling mill in the steel rolling production line;

[0013] The controlling the speed of the landing gear of the looper based on the adjusting speed change rate comprises:

[0014] determining a height adjustment speed of the looper based on the adjustment speed change rate;

[0015] Determine a target operating speed of the upstream rolling mill corresponding to the height adjustment speed;

[0016] The upstream rolling mill is controlled to run at the target running speed to control the lifting and lowering speed of the looper.

[0017] According to the looper control method provided by the present invention, before determining the target error interval corresponding to the height error value, the method further includes:

[0018] Determine whether the height error value exceeds a safety interval, and if the height error value exceeds the safety interval, perform a height adjustment task;

[0019] The safety interval is -5 mm to 5 mm.

[0020] According to the looper control method provided by the present invention, the regulation mapping table is established through the following process, including:

[0021] Divide the control range of the height error value into multiple error intervals;

[0022] Determine an adjustment gain corresponding to each error interval; wherein, when the lower limit value of the error interval is a positive number, the adjustment gain is negatively correlated with the lower limit value and / or the upper limit value of the error interval;

[0023] Each error interval and the adjustment gain corresponding to the error interval are used as table content to establish a control mapping table.

[0024] According to the looper control method provided by the present invention, the multi-level error interval includes at least two of the following multiple preset intervals;

[0025] The multiple preset intervals include:

[0026] The first interval, the interval range of the first interval is greater than 150 mm, and the adjustment gain corresponding to the first interval is 0.7;

[0027] The second interval has a range of 120-150 mm and an adjustment gain corresponding to the second interval is 0.75;

[0028] The third interval has a range of 90-120 mm and an adjustment gain corresponding to the third interval is 0.8;

[0029] The fourth interval has an interval range of 40-90 mm, and the adjustment gain corresponding to the fourth interval is 0.85;

[0030] The fifth interval has an interval range of 20-40 mm, and the adjustment gain corresponding to the fifth interval is 0.95.

[0031] According to the looper control method provided by the present invention, the determining the adjustment speed change rate corresponding to the height adjustment amount includes:

[0032] Establishing a mapping relationship between each height adjustment amount and the adjustment speed change rate corresponding to the height adjustment amount;

[0033] The adjustment speed change rate corresponding to the height adjustment amount of the loop is determined from the mapping relationship.

[0034] According to the looper control method provided by the present invention, in the mapping relationship, the adjustment speed change rate is positively correlated with the height adjustment amount.

[0035] In a second aspect, the present invention further provides a looper control system, the system comprising:

[0036] A loop scanner is used to scan the loop and collect the actual measured value of the loop height;

[0037] A controller is used to obtain a measured value of the height of the loop; compare the measured value of the height with a set value of the height to obtain a height error value; determine a target error interval corresponding to the height error value, and determine a target adjustment gain based on a control mapping table and the target error interval; wherein the control mapping table is used to characterize the correspondence between each error interval and the adjustment gain; calculate the height adjustment amount of the loop based on the target adjustment gain and the height error value; determine an adjustment speed change rate corresponding to the height adjustment amount, and control the landing gear speed of the loop based on the adjustment speed change rate.

[0038] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the looper control methods described above is implemented.

[0039] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the looper control methods described above.

[0040] The looper control method, system, electronic device and storage medium provided by the present invention determine the target error interval corresponding to the height error value of the looper, and then determine the target adjustment gain, calculate the height adjustment amount of the looper by the target adjustment gain and the height error value, and determine the adjustment speed change rate corresponding to the height adjustment amount, and control the landing gear speed of the looper by adjusting the speed change rate. Since the two parameters of the target adjustment gain and the adjustment speed change rate are introduced in the control process, the adjustment process of the looper height can be made more precise and smooth, thereby improving the accuracy and reliability of the looper control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 is a flow chart of a looper control method provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of a process for controlling the speed of the landing gear of the looper based on adjusting the speed change rate;

[0044] Figure 3 is a schematic structural diagram of a looper control system provided by an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0047] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0048] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] This embodiment relates to the field of automatic control, and can be specifically applied to the scenario of automatically controlling the raising and lowering process of the looper in the steel rolling production line. Loop control is an indispensable link in the current automatic speed control system of the rod / wire rolling mill. The automatic control system adjusts the speed of the adjacent frames to generate "extra" rolled pieces between the frames. The "extra" rolled pieces are formed with the assistance of the looping device, and can dynamically maintain an arc-shaped loop-shaped object, which is called a looper. The looper can make the steel between adjacent frames store a certain amount of looper without tension, and serve as a buffer link when the speed between the frames is not coordinated, thereby eliminating the fluctuation of the dimensional accuracy of the rolled pieces caused by the dynamic speed of each frame during rolling, and can improve the quality of the product.

[0050] In the high-speed wire production process, in the intermediate rolling, pre-finishing rolling and finishing rolling mill areas, due to the small cross-sectional area of ​​the rolled piece, looper control is basically adopted. In the looper control process, the looper can be understood as the process of lifting the looper, and the looper can be understood as the process of lowering the looper.

[0051] Loop control mainly includes four stages, namely, the loop pre-formation stage, the loop formation stage, the loop control stage and the loop collection stage.

[0052] The pre-formation stage of the looper refers to the dynamic speed drop caused by the head of the rolled piece biting into the roll gap, and the steel pile phenomenon formed by the front and rear racks. In this link, the speed of the rack after the actual loop height and the set loop height correction can be referred to, and the looper control command can be issued.

[0053] The loop formation stage refers to the stage where the rolled piece enters the loop formation stage once it bites into the roll gap. At this time, the looping roller is already in the process of lifting upwards. The speed of the downstream rolling mill can be continuously corrected by comparing the actual loop height measured by the loop scanner with the height setting value until the rolled piece is detected by the downstream loop scanner.

[0054] The loop control stage refers to the process in which the rolled piece forms an arc-shaped loop under the support of the looping roller. This link can continuously correct the speed of the upstream rolling mill according to the measured value of the loop height and the height setting value.

[0055] The looping stage refers to when the tail of the rolled piece approaches the upstream frame. In order to prevent the rolled piece from swinging off, the looping speed can be added to the relevant frame in advance, and the looping height can be reduced by adjusting the speed of the upstream frame to reduce the looping to the safe looping range.

[0056] The control strategy provided in this embodiment is mainly aimed at the loop control stage. Considering that in the process of controlling the loop by the traditional control strategy, due to the mismatch between the lifting and lowering speed of the loop and the change in the rolling mill speed, when the lifting height of the loop is high, the loop height is prone to be unstable, causing the size of the two sides of the finished product to change. In severe cases, it may cause steel piling, affecting the quality of the finished product.

[0057] Based on this, this embodiment provides a solution to the above problem. Figures 1 to 4 Describe the detailed scheme of the looper control method, system, electronic device and storage medium provided by the embodiments of the present invention.

[0058] See also Figure 1 The looper control method provided by the embodiment of the present invention specifically includes:

[0059] Step 110: Obtain the actual measured value of the looper height.

[0060] The measured value of the loop height can be obtained by scanning with a loop scanner. The loop scanner is a device used to detect hot (metal) materials. It can scan the entire field through an optical-mechanical system without any optical adjustment. The loop scanner can be used to scan and detect the dynamic position of red-hot workpieces in metallurgical production. In this process, the optical system of the loop scanner can directly display the radiation light of the object being measured on the CCD sensor in the form of an image.

[0061] The execution subject of the looper control method provided in this embodiment may be a looper controller, and the looper controller may be connected to the looper scanner in a wired or wireless manner to receive the actual measured value of the looper height obtained by scanning the looper scanner.

[0062] Step 120: Compare the measured height value with the set height value to obtain a height error value.

[0063] In this embodiment, in order to determine whether there is a deviation in the height of the loop, the actual measured height value can be compared with the height setting value. The height setting value can be understood as a pre-set standard value of the loop height. If the actual measured height value deviates from the height setting value, it means that the loop height may need to be adjusted to ensure the production quality requirements of the steel rolling production line.

[0064] In a specific implementation, the height measured value and the height setting value may be subtracted, and the difference obtained by the subtraction is the height error value. The height error value may represent the deviation state of the looper height.

[0065] Step 130: Determine a target error interval corresponding to the height error value, and determine a target adjustment gain based on the control mapping table and the target error interval; wherein the control mapping table is used to characterize the correspondence between each error interval and the adjustment gain.

[0066] In this embodiment, a control mapping table can be established in advance. The control mapping table can be directly stored in the internal memory of the loop controller itself, or stored in an external storage medium, such as an external memory or database server. By establishing a connection relationship between the loop controller and the external memory or data server, the control mapping table can be called up in a timely manner to obtain relevant data in the control mapping table.

[0067] Step 140: Calculate the height adjustment amount of the looper based on the target adjustment gain and the height error value.

[0068] In the related art, the method of directly adjusting the height of the loop according to the height error value is prone to the problem of over-adjustment due to continuous height changes when the height of the loop is close to the height setting value, and then it is necessary to adjust again to adjust the part of the height error value that is over-adjusted. This process will cause the height of the loop to fluctuate continuously, and the control effect is not ideal.

[0069] In view of the above problems, the present embodiment introduces a target adjustment gain, through which the height adjustment amount of the looper can be appropriately reduced, thereby avoiding the problem of over-adjustment to a certain extent and improving the accuracy of the looper control.

[0070] Step 150: Determine the adjustment speed change rate corresponding to the height adjustment amount, and control the landing gear speed of the looper based on the adjustment speed change rate.

[0071] It can be understood that since the process of adjusting the height of the loop at a fixed adjustment speed has the problem of low adjustment efficiency, this embodiment first determines the adjustment speed change rate corresponding to the height adjustment amount before controlling the landing gear speed of the loop. By controlling the landing gear speed of the loop by adjusting the speed change rate, the loop control process can be made more efficient. Combined with the introduction of the adjustment gain, the control of the loop can be achieved efficiently, accurately and smoothly.

[0072] In one embodiment, the looper is arranged between the upstream mill and the downstream mill in the steel rolling production line. The looper mainly includes a looper table, a support roller, a guide groove, a looper roller and a looper scanner and other structural parts. Among them, the support roller and the looper roller play the role of guiding and supporting the rolled product. The looper roller and the turning guide plate are driven by a cylinder, and the cylinder controlling the looper roller can be controlled by a double solenoid valve.

[0073] See also Figure 2 , based on adjusting the speed change rate, controlling the speed of the landing gear of the looper may specifically include:

[0074] Step 210: Determine the height adjustment speed of the looper based on the adjustment speed change rate.

[0075] In this embodiment, the adjustment speed change rate can be understood as the acceleration or deceleration of the looper height adjustment. The height adjustment speed of the looper corresponding to each adjustment moment can be determined by adjusting the speed change rate.

[0076] Step 220: Determine the target operating speed of the upstream rolling mill corresponding to the height adjustment speed.

[0077] In this embodiment, since the loop height adjustment process is mainly achieved by adjusting the operating speed of the upstream rolling mill, there is a certain corresponding relationship between the operating speed of the upstream rolling mill and the height adjustment speed of the loop. Specifically, the operating speed of the upstream rolling mill is positively correlated with the height adjustment speed of the loop. That is to say, the greater the operating speed of the upstream rolling mill, the greater the height adjustment speed of the loop. Therefore, based on the known height adjustment speed of the loop, the operating speed of the upstream rolling mill can be determined according to the corresponding relationship between the two.

[0078] In practical applications, the corresponding relationship between the height adjustment speed of the looper and the operating speed of the upstream rolling mill can be reasonably set according to actual control needs, or can be pre-set by the rolling mill manufacturer, and no further restrictions will be made here.

[0079] Step 230: Control the upstream rolling mill to run at the target running speed to control the lifting and lowering speed of the looper.

[0080] It is understandable that the upstream rolling mill can be operated at the target operating speed through closed-loop control to control the lifting and lowering speed of the looper, thereby controlling the looper to adjust the height at the obtained height adjustment speed.

[0081] The control scheme provided in this embodiment uses a reasonable adjustment speed change rate to perform speed control on the control process of the loop, so that the control process can better match the actual height error situation, making the height adjustment process of the loop smoother.

[0082] In one embodiment, before determining the target error interval corresponding to the height error value, the looper control method provided in this embodiment may further include:

[0083] Determine whether the height error value exceeds the safety range to determine whether the height adjustment condition is met. If the height error value exceeds the safety range, perform the height adjustment task;

[0084] Among them, the safety range is -5mm to 5mm.

[0085] Before adjustment, this embodiment also sets up a height adjustment condition judgment link, which determines whether the height of the loop needs to be adjusted by judging whether the height error value exceeds the safety range. If the height adjustment condition is met, the height adjustment task is executed, that is, the target error range corresponding to the height error value is determined and the control logic after this step is executed.

[0086] In a specific implementation, if the height error value is within the safety interval, that is, the height error value is within -5mm to 5mm, the height adjustment condition is not met at this time, which means that the height error value is low at this time, and there is no need to adjust the loop height temporarily; if the height error value exceeds the safety interval, that is, the height error value is outside of -5mm to 5mm, the height adjustment condition is met at this time, which means that the height error value is high at this time, the loop height deviation is large, and the loop height needs to be adjusted.

[0087] Through the judgment link before the above-mentioned regulation, the height control logic can be triggered timely during the loop control process, specifically, it is triggered only when the height error value is large, avoiding the problem of frequent fluctuations in the loop height caused by frequent triggering of the height control logic, and further improving the stability and reliability of the control process.

[0088] In one embodiment, the control mapping table is established through the following process, specifically including:

[0089] First, the control range of the height error value is divided into multiple error intervals.

[0090] In this embodiment, multiple levels of error intervals can be divided according to the actual control accuracy. For example, for scenarios with high control accuracy requirements, a larger number of error intervals can be divided to carry out targeted and accurate control for different error situations; for scenarios with low control accuracy requirements, a relatively small number of error intervals can be divided, which can reduce the amount of data in the control mapping table while meeting the control requirements, thereby reducing data storage requirements.

[0091] Then, the adjustment gain corresponding to each error interval is determined; wherein, when the lower limit value of the error interval is a positive number, the adjustment gain is negatively correlated with the lower limit value and / or the upper limit value of the error interval.

[0092] In this embodiment, the control gain corresponding to each error interval can be reasonably set according to the actual application requirements, and during the setting process, it is necessary to ensure that the control gain is negatively correlated with the lower limit value and / or the upper limit value of the error interval. It should be noted that the control gain can specifically take a value between 0 and 1.

[0093] Finally, each error interval and the adjustment gain corresponding to the error interval are used as table contents to establish a control mapping table.

[0094] By storing the mapping relationship between the error interval and the adjustment gain in the form of a table, the adjustment gain corresponding to any error interval can be queried more efficiently and intuitively.

[0095] In one embodiment, the multi-level error interval may specifically include at least two of the following multiple preset intervals;

[0096] The above-mentioned multiple preset intervals include:

[0097] The first interval, the interval range of the first interval is above 150mm, and the adjustment gain corresponding to the first interval is 0.7;

[0098] The second interval, the interval range of the second interval is 120-150mm, and the adjustment gain corresponding to the second interval is 0.75;

[0099] The third interval, the range of the third interval is 90-120mm, and the adjustment gain corresponding to the third interval is 0.8;

[0100] The fourth interval, the range of the fourth interval is 40-90 mm, and the adjustment gain corresponding to the fourth interval is 0.85;

[0101] The fifth interval, the interval range of the fifth interval is 20-40mm, and the adjustment gain corresponding to the fifth interval is 0.95.

[0102] This embodiment is only an exemplary display of the multi-level error intervals and the adjustment gain values ​​corresponding to each error interval. In actual applications, any one or more of the above error intervals can be appropriately increased or decreased according to the control requirements. For example, in some embodiments, a sixth interval can also be set, the interval range of the sixth interval is below -20mm, and the adjustment gain corresponding to the sixth interval is 0. In another embodiment, an error interval with an interval range of less than 20mm can also be set and the corresponding adjustment gain can be set according to the actual control requirements.

[0103] The control mapping table established based on the error intervals divided above and the adjustment gains corresponding to each error interval can be expressed as follows:

[0104] Table 1 Control mapping table

[0105]

[0106]

[0107] In one embodiment, determining the adjustment speed change rate corresponding to the height adjustment amount specifically includes:

[0108] First, a mapping relationship between each height adjustment amount and the adjustment speed change rate corresponding to the height adjustment amount is established.

[0109] In practical applications, the adjustment speed change rate can be directly set according to the staff's experience. Considering that there is a certain correlation between the adjustment speed change rate and the height adjustment amount, a mapping relationship between the height adjustment amount and the adjustment speed change rate can also be established in advance, and the adjustment speed change rate can be determined through the mapping relationship between the two.

[0110] In some embodiments, the mapping relationship between the height adjustment amount L and the adjustment speed change rate P can also be represented in the form of a mapping table, and the mapping table can also be pre-stored in the memory inside the loop controller, or centrally stored in an external memory or database.

[0111] Then, the adjustment speed change rate corresponding to the height adjustment amount of the looper is determined from the mapping relationship.

[0112] After the mapping relationship between the height adjustment amount and the adjustment speed change rate is established, when the height adjustment amount is known, the adjustment speed change rate corresponding to the height adjustment amount can be directly determined according to the mapping relationship.

[0113] In this embodiment, in the mapping relationship, the adjustment speed change rate is positively correlated with the height adjustment amount.

[0114] It can be understood that if the height adjustment amount is large, it means that the height deviation value that needs to be adjusted is large, and the value of the adjustment speed change rate can be appropriately increased to adjust the looper height more efficiently; if the height adjustment amount is small, it means that the height deviation value that needs to be adjusted is small, and the value of the adjustment speed change rate can be appropriately reduced to smoothly adjust the looper height.

[0115] Based on the same general inventive concept, the present invention also protects a looper control system. The looper control system provided by the present invention is described below. The looper control system described below and the looper control method described above can be referenced to each other.

[0116] See also Figure 3 The looper control system provided by the embodiment of the present invention specifically includes:

[0117] A loop scanner 310 is used to scan the loop and collect the actual measured value of the loop height;

[0118] The controller 320 is used to obtain the actual measured value of the height of the loop; compare the actual measured value of the height with the set value of the height to obtain the height error value; determine the target error interval corresponding to the height error value, and determine the target adjustment gain based on the control mapping table and the target error interval; wherein the control mapping table is used to characterize the correspondence between each error interval and the adjustment gain; based on the target adjustment gain and the height error value, calculate the height adjustment amount of the loop; determine the adjustment speed change rate corresponding to the height adjustment amount, and control the landing gear speed of the loop based on the adjustment speed change rate.

[0119] In one embodiment, the looper is arranged between an upstream rolling mill and a downstream rolling mill in a steel rolling production line;

[0120] In the controller 320, the speed of the landing gear of the looper is controlled based on the adjustment speed change rate, specifically including:

[0121] Determining the height adjustment speed of the looper based on the adjustment speed change rate;

[0122] Determine the target operating speed of the upstream rolling mill corresponding to the height adjustment speed;

[0123] Control the upstream rolling mill to run at the target speed to control the lifting and lowering speed of the looper.

[0124] In one embodiment, before determining the target error interval corresponding to the height error value, the controller 320 is further configured to:

[0125] Determine whether the height error value exceeds the safety range. If the height error value exceeds the safety range, perform the height adjustment task;

[0126] Among them, the safety range is -5mm to 5mm.

[0127] In one embodiment, in the controller 320, the control mapping table is established by the following process, including:

[0128] Divide the control range of the height error value into multiple error intervals;

[0129] Determine an adjustment gain corresponding to each error interval; wherein, when the lower limit value of the error interval is a positive number, the adjustment gain is negatively correlated with the lower limit value and / or the upper limit value of the error interval;

[0130] Each error interval and the adjustment gain corresponding to the error interval are used as table contents to establish a control mapping table.

[0131] In one embodiment, in the controller 320, the multi-level error interval may specifically include at least two of the following multiple preset intervals;

[0132] The above-mentioned multiple preset intervals specifically include:

[0133] The first interval, the interval range of the first interval is above 150mm, and the adjustment gain corresponding to the first interval is 0.7;

[0134] The second interval, the interval range of the second interval is 120-150mm, and the adjustment gain corresponding to the second interval is 0.75;

[0135] The third interval, the range of the third interval is 90-120mm, and the adjustment gain corresponding to the third interval is 0.8;

[0136] The fourth interval, the range of the fourth interval is 40-90 mm, and the adjustment gain corresponding to the fourth interval is 0.85;

[0137] The fifth interval, the interval range of the fifth interval is 20-40mm, and the adjustment gain corresponding to the fifth interval is 0.95.

[0138] In one embodiment, the controller 320 determines the adjustment speed change rate corresponding to the height adjustment amount, specifically including:

[0139] Establishing a mapping relationship between each height adjustment amount and the adjustment speed change rate corresponding to the height adjustment amount;

[0140] The adjustment speed change rate corresponding to the height adjustment amount of the loop is determined from the mapping relationship.

[0141] In a specific implementation, in the mapping relationship, the adjustment speed change rate is positively correlated with the height adjustment amount.

[0142] To summarize, the looper control device provided in the present embodiment determines the target error interval corresponding to the height error value of the looper, and then determines the target adjustment gain, calculates the height adjustment amount of the looper by the target adjustment gain and the height error value, and determines the adjustment speed change rate corresponding to the height adjustment amount, and controls the speed of the looper's landing gear by adjusting the speed change rate. Since the two parameters of the target adjustment gain and the adjustment speed change rate are introduced in the control process, the adjustment process of the looper height can be made more precise and smooth, thereby improving the accuracy and reliability of the looper control process.

[0143] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0144] like Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the looper control method provided in the above embodiments.

[0145] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0146] On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer readable storage medium, when the computer program is executed by a processor, the computer can execute the looper control method provided in the above embodiments

[0147] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the looper control method provided in the above embodiments.

[0148] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0149] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A looper control method, characterized in that: include: Get the measured value of the looper's height; Compare the measured height value with the set height value to obtain a height error value; determine whether the height error value exceeds a safety interval, and if the height error value exceeds the safety interval, perform a height adjustment task; wherein the safety interval is -5 mm to 5 mm; Determine a target error interval corresponding to the height error value, and determine a target adjustment gain based on a control mapping table and the target error interval; wherein the control mapping table is used to characterize a corresponding relationship between each error interval and an adjustment gain; The control mapping table is established through the following process, including: dividing the control range of the height error value into multiple error intervals; determining the control gain corresponding to each error interval; wherein, when the interval lower limit value of the error interval is a positive number, the control gain is negatively correlated with the interval lower limit value and / or the interval upper limit value of the error interval; taking each of the error intervals and the control gain corresponding to the error interval as table content, establishing the control mapping table; the multiple error intervals include at least two of the following multiple preset intervals; the multiple preset intervals include: a first interval, the interval range of the first interval is 15 0mm or more, the adjustment gain corresponding to the first interval is 0.7; the second interval, the interval range of the second interval is 120-150mm, and the adjustment gain corresponding to the second interval is 0.75; the third interval, the interval range of the third interval is 90-120mm, and the adjustment gain corresponding to the third interval is 0.8; the fourth interval, the interval range of the fourth interval is 40-90mm, and the adjustment gain corresponding to the fourth interval is 0.85; the fifth interval, the interval range of the fifth interval is 20-40mm, and the adjustment gain corresponding to the fifth interval is 0.95; Based on the target adjustment gain and the height error value, a height adjustment amount of the looper is calculated; Determining the adjustment speed change rate corresponding to the height adjustment amount, comprising: establishing a mapping relationship between each height adjustment amount and the adjustment speed change rate corresponding to the height adjustment amount; determining the adjustment speed change rate corresponding to the height adjustment amount of the looper from the mapping relationship, wherein the adjustment speed change rate is positively correlated with the height adjustment amount; And based on the adjustment speed change rate, the lifting and lowering sleeve speed of the loop is controlled, including: determining the height adjustment speed of the loop based on the adjustment speed change rate; determining the target operating speed of the upstream rolling mill corresponding to the height adjustment speed; controlling the upstream rolling mill to operate at the target operating speed to control the lifting and lowering sleeve speed of the loop.

2. The looper control method according to claim 1, characterized in that: The looper is arranged between the upstream rolling mill and the downstream rolling mill in the steel rolling production line.

3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the looper control method as claimed in claim 1 or 2 is implemented.

4. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the looper control method as claimed in claim 1 or 2 is implemented.

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