Method for solving oscillation caused by mutual interference between torque loop and approaching controller in loop control

Abstract

The application discloses a method for solving the oscillation caused by the mutual interference between a torque ring and a approaching controller in loop control, which comprises the following steps: setting an angular velocity oscillation detection counter and a time counter; starting the time counter after the loop is completed; simultaneously, detecting whether the loop oscillation is generated by a detection system in real time, and when the loop oscillation is generated, the angular velocity oscillation detection counter captures the time when the loop oscillation is generated in real time and records the time; and based on the counting results of the time counter and the angular velocity oscillation detection counter, the approaching controller is disabled in time to prevent the continuous oscillation of the torque ring and the approaching controller. The method can solve the oscillation problem caused by the mutual interference between the loop torque ring and the approaching controller.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for hot continuous rolling mills, and in particular to a method for solving the oscillations caused by mutual interference between the torque loop and the approach controller in looper control. Background Technology

[0002] In hot strip mill production lines, looper control plays a crucial role, and the control accuracy of the looper directly affects the quality of the product. Looper devices are installed between the finishing mill stands to buffer changes in the metal flow rate. The looper uses a torque closed-loop control hydraulic servo system to ensure constant tension of the strip between the stands, and at the same time, it uses a height closed-loop to adjust the speed of the upstream stand to ensure a constant amount of strip being looped between the stands.

[0003] In actual rolling mill looper startup, the servo valve current consists of the torque loop and the approach controller output. After looper startup, the torque loop and approach controller output together. When the actual torque cannot follow the set torque, the torque loop will output rapidly to bring the looper closer to the strip as quickly as possible. When the looper contacts the strip, if the torque overshoots, the torque loop will output a negative current to mitigate the torque overshoot. At the same time, the output of the approach controller gradually decreases as the tension torque saturates, eventually achieving soft contact between the looper and the strip. When the actual torque is less than the set torque, the actual tension torque is also less than the set tension torque, meaning the looper is at risk of losing tension. To quickly reach the set torque, the approach controller will output. When the looper sagging is severe, the approach controller output is large, and occasionally it will oscillate with the torque loop during adjustment. Moreover, the oscillation trend becomes increasingly obvious, and the looper angle will also fluctuate significantly. In severe cases, there is a risk of downstream stand overlap rolling. Therefore, it is necessary to prevent the torque loop and approach controller from oscillating to ensure the stability of looper control. Summary of the Invention

[0004] This invention provides a method for solving the oscillation caused by mutual interference between the torque loop and the approach controller in loop control, thereby resolving the oscillation problem caused by mutual interference between the torque loop and the approach controller.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] On one hand, the present invention provides a method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control. This method includes:

[0007] Set up an angular velocity oscillation detection counter and a time counter;

[0008] Once the slipknot is engaged, the time counter begins counting. Simultaneously, the detection system monitors in real time whether slipknot oscillation occurs. When slipknot oscillation occurs, the angular velocity oscillation detection counter captures and records the time of slipknot oscillation in real time, which are defined as: Ta1, Ta2, ..., TaN; where Tai represents the recording time of the i-th slipknot oscillation, i = 1, 2, 3, ..., N, and N is a preset integer value.

[0009] Based on the counting results of the time counter and the angular velocity oscillation detection counter, the approach controller is disabled in a timely manner to prevent the torque loop and the approach controller from oscillating continuously.

[0010] Furthermore, the detection system monitors in real time whether condom oscillations occur, including:

[0011] The angular velocity of the looper is detected in real time by an angular velocity detection system;

[0012] When the detected angular velocity of the looper exceeds the preset angular velocity threshold, it is determined that looper oscillation has occurred.

[0013] Furthermore, the preset angular velocity threshold is 3deg / s.

[0014] Furthermore, based on the counting results of the time counter and the angular velocity oscillation detection counter, a timely disabling operation is performed on the approach controller to prevent the torque loop from continuously oscillating with the approach controller, including:

[0015] When the time interval between the recording time of the Nth loop oscillation and the recording time of the first loop oscillation is less than the preset first duration threshold, a preset duration pulse is triggered to disable the approach controller output.

[0016] Furthermore, the preset first duration threshold is 240ms.

[0017] Furthermore, the preset duration is two seconds.

[0018] Furthermore, based on the counting results of the time counter and the angular velocity oscillation detection counter, the approach controller is promptly disabled to prevent the torque loop from continuously oscillating with the approach controller, which also includes:

[0019] When the time interval between the time recorded by the time counter and the time recorded by the angular velocity oscillation detection counter for the first loop oscillation is greater than the preset second duration threshold, the angular velocity oscillation detection counter is reset, and the detection of whether a loop oscillation occurs is restarted; when the loop is unhooked or unhooked, both counters are also reset, thereby resetting the approach controller.

[0020] Furthermore, the preset second duration threshold is 300ms.

[0021] In another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the above-described method.

[0022] In another aspect, the present invention also provides a computer-readable storage medium storing at least one instruction that is loaded and executed by a processor to implement the above-described method.

[0023] The beneficial effects of the technical solution provided by this invention include at least the following:

[0024] The technical solution of this invention captures the looper angular velocity in real time after the looper starts rolling. When the system detects that the looper has a tendency to jitter, it disables the output of the approach controller in time, which can avoid the oscillation problem caused by the mutual interference between the looper torque ring and the approach controller, thereby ensuring the stable rolling of the strip. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the execution flow of the method for solving the oscillation caused by mutual interference between the torque loop and the approach controller in the loop control provided by the embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the loop oscillation detection principle provided in an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0029] First Embodiment

[0030] To address the oscillation problem caused by mutual interference between the torque loop and the approach controller, this embodiment provides a method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in loop control. This method can be implemented by an electronic device, which can be a terminal or a server. The execution flow of this method is as follows: Figure 1 As shown, it includes the following steps:

[0031] S1, set an angular velocity oscillation detection counter and a time counter;

[0032] The time counter integrates time through the integration function block, which is the real-time T.

[0033] S2, after the slipknot is untied, the time counter starts counting; at the same time, the detection system detects in real time whether the slipknot oscillates. When slipknot oscillation occurs, the angular velocity oscillation detection counter captures the time of slipknot oscillation in real time and records it, which are defined as: Ta1, Ta2, Ta3, Ta4 respectively.

[0034] It should be noted that in this embodiment, oscillation detection refers to the angular velocity oscillation detection of the looper. The angular velocity is calculated from the actual angle of the looper and is expressed in deg / s. The oscillation threshold is 3 deg / s. After the looper is unhooked, the angular velocity oscillation detection counter starts working. When the angular velocity is detected to be greater than 3 deg / s for the first time, the current time is recorded as Ta1; the second time as Ta2, and so on, recording Ta3, Ta4 in sequence.

[0035] S3, based on the counting results of the time counter and the angular velocity oscillation detection counter, promptly disable the approach controller to prevent the torque loop from continuously oscillating with the approach controller;

[0036] In this embodiment, the method disables the approach controller output when loop oscillation is detected, thereby avoiding oscillation between the approach controller and the torque loop. The specific detection and control principles are as follows: Figure 2 As shown, the process is as follows:

[0037] When the time interval between the fourth oscillation recording time Ta4 and the first oscillation recording time Ta1 is less than 240ms, a two-second pulse is triggered to disable the approach control output. At this time, due to the exit of the approach controller, the torque loop will quickly enter a steady state, thereby avoiding oscillation between the approach controller and the torque loop. It should be noted that when the time interval between the fourth oscillation recording time Ta4 and the first oscillation recording time Ta1 is less than 240ms, the approach controller needs to be disabled for two seconds because at this time, it is detected that the looper has reached the threshold value angular velocity four times within 240ms, and is in an oscillation state. The looper needs to be exited from the oscillation state as soon as possible. Otherwise, severe looper jitter may cause the risk of stacked scrap steel. At this time, the system generates a two-second pulse to disable the approach control output, which can effectively avoid the continuous oscillation between the approach controller and the torque loop.

[0038] When the time interval T of the time counter is greater than 300ms from the time Ta1 of the first detected oscillation, the oscillation counter is reset because the oscillation frequency is considered low at this point, and oscillation detection restarts. Specifically, if the looper's angular velocity does not reach the threshold value of 3deg / s within 300ms, the looper is in a stable state, and therefore the oscillation counter is reset for re-detection. Similarly, when the looper is raised or lowered, both counters are reset, thereby resetting the controller.

[0039] In summary, this embodiment provides a method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control. This method involves real-time monitoring of the looper's angular velocity change trend after looper startup and timely disabling of the approach controller to prevent continuous oscillation between the torque loop and the approach controller, thereby ensuring the stability of the looper control. This method has been successfully applied in a hot strip rolling production line, significantly improving the control accuracy of the looper and greatly reducing scrap accidents caused by abnormal looper vibration.

[0040] Second Embodiment

[0041] This embodiment provides an electronic device, which includes a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the method of the first embodiment.

[0042] The electronic device can vary considerably depending on its configuration or performance, and may include one or more processors (central processing units, CPUs) and one or more memories, wherein the memories store at least one instruction that is loaded by the processor and executed in accordance with the above method.

[0043] Third Embodiment

[0044] This embodiment provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the above-described method. The computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc. The instruction stored therein can be loaded and executed by a processor in a terminal.

[0045] Furthermore, it should be noted that the present invention can be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0046] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0048] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0049] Finally, it should be noted that the above description represents a preferred embodiment of the present invention. It should be pointed out that although preferred embodiments have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make various improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

Claims

1. A method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control, characterized in that, The methods for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control include: Set up an angular velocity oscillation detection counter and a time counter; Once the slipknot is engaged, the time counter begins counting. Simultaneously, the detection system monitors in real time whether slipknot oscillation occurs. When slipknot oscillation occurs, the angular velocity oscillation detection counter captures and records the time of slipknot oscillation in real time, which are defined as: Ta1, Ta2, ..., TaN; where Tai represents the recording time of the i-th slipknot oscillation, i=1,2,3,...,N, and N is a preset integer value. Based on the counting results of the time counter and the angular velocity oscillation detection counter, the approach controller is disabled in a timely manner to prevent the torque loop from oscillating continuously with the approach controller; Specifically, based on the counting results of the time counter and the angular velocity oscillation detection counter, a timely disabling operation is performed on the approach controller to prevent the torque loop and the approach controller from oscillating continuously, including: When the time interval between the recording time of the Nth loop oscillation and the recording time of the first loop oscillation is less than the preset first duration threshold, a preset duration pulse is triggered to disable the approach controller output.

2. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 1, characterized in that, The detection system monitors in real time whether condom slippage or vibration occurs, including: The angular velocity of the looper is detected in real time by an angular velocity detection system; When the detected angular velocity of the looper exceeds the preset angular velocity threshold, it is determined that looper oscillation has occurred.

3. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 2, characterized in that, The preset angular velocity threshold is 3 deg / s.

4. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 1, characterized in that, The preset first duration threshold is 240ms.

5. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 1, characterized in that, The preset duration is two seconds.

6. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 1, characterized in that, Based on the counting results of the time counter and the angular velocity oscillation detection counter, the approach controller is promptly disabled to prevent the torque loop from continuously oscillating with the approach controller. This also includes: When the time interval between the time recorded by the time counter and the time recorded by the angular velocity oscillation detection counter for the first slip ring oscillation is greater than a preset second duration threshold, the angular velocity oscillation detection counter is reset, and the detection of slip ring oscillation is restarted. When the slip ring is unhooked or unhooked, the time counter and the angular velocity oscillation detection counter are also reset, thereby resetting the approach controller.

7. The method for resolving oscillations caused by mutual interference between the torque loop and the approach controller in looper control as described in claim 6, characterized in that, The preset second duration threshold is 300ms.

Images