A double-layer loop synchronous operation control method

Abstract

The double-layer loop synchronous operation control method provides a compensation method which simultaneously considers the deviation e1(t) between the set rotating speed V0 and the actual rotating speed Vt of the loop and the deviation e2(t) between the loop amount H1t and the loop amount H2t of the two loops. Through the real-time adjustment of the loop torque, the synchronous operation of the two-layer loop can be effectively controlled, and the problems such as the asynchronization and imbalance of the loop amounts of the two loops, the tension fluctuation, the uncontrolled loop caused by the too large difference between the loop amounts of the two loops, the loss of tension and shutdown, and the scratch of the steel belt after the loss of tension of the steel belt can be solved.

Description

Technical Field

[0001] This invention relates to the field of double-layer looper control technology, and in particular to a method for synchronous operation control of double-layer loopers. Background Technology

[0002] Looping is a crucial piece of equipment in continuous strip steel pickling, rolling, and processing production lines, primarily used for dynamically storing strip steel and buffering and regulating production rhythm. Double-layer looping, as the name suggests, employs two loopers arranged in two layers to form a single unit. The strip steel is stored by winding around these two looper units sequentially. Compared to single loopers, double-layer loopers increase strip steel storage capacity and improve space utilization. However, the two loopers are controlled by two different sets of winches. Maintaining synchronization and tension stability between the two loopers during operation is a challenge. This often results in asynchronous or unbalanced looping volumes, tension fluctuations, and even, when the difference in looping volumes is too large, the loopers may become uncontrollable, lose tension, and stop, leading to strip steel scratches. Summary of the Invention

[0003] The purpose of this invention is to provide a method for controlling the synchronous operation of a double-layer looper.

[0004] The technical solution to achieve the objective of this invention is: a double-layer looper synchronous operation control method, comprising the following steps:

[0005] S1. Set the tension value F0 and rotational speed V0 for each looper;

[0006] S2. Based on the tension value F0 set for the looper, calculate the set torque T0 of the winch motor corresponding to the looper using the following formula:

[0007] ;

[0008] ;

[0009] Where r is the radius of the winch drum, i is the gear reduction ratio of the winch gearbox, t is the rated torque of the winch motor, Tm is the friction torque of the winch, Tg is the moment of inertia torque of the winch, p is the rated power of the winch motor, and n is the rated speed of the winch motor.

[0010] S3. Measure the actual rotational speed Vt of the looper in real time. Calculate the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt using the following formula. Perform PID calculation on the deviation e1(t) between the set speed V0 and the actual rotational speed Vt to obtain the looper rotational speed compensation value Vk:

[0011] ;

[0012] ;

[0013] Where Kp1 is the proportional coefficient set when performing PID calculation on the deviation e1(t), and Ki1 is the integral coefficient set when performing PID calculation on the deviation e1(t).

[0014] S4. Measure the current looper quantity H1t and the looper quantity H2t of the other looper in real time. Calculate the deviation e2(t) between the two looper quantities H1t and H2t using the following formula. Perform PID calculation on the deviation e2(t) between the two looper quantities H1t and H2t to calculate the looper quantity compensation value Hk:

[0015] ;

[0016] ;

[0017] ;

[0018] Where Hc is the output value when performing PID calculation on deviation e2(t), Kp2 is the proportional coefficient set when performing PID calculation on deviation e2(t), Ki2 is the integral coefficient set when performing PID calculation on deviation e2(t), and β is the set overlay compensation coefficient.

[0019] S5. Based on the real-time calculated looper speed compensation value Vk and looper shearing amount compensation value Hk, calculate the torque compensation value Tk of the winch motor corresponding to the looper according to the following formula:

[0020] ;

[0021] S6. Calculate the torque T after looper compensation in real time using the following formula:

[0022] ;

[0023] Based on the above steps, the torque of the two loopers is compensated and adjusted in real time, so that the motors of the two loopers winches run at the real-time compensated torque T, thereby realizing the synchronous control of the double-layer looper operation.

[0024] Further, in step S4, the slip compensation coefficient β is set based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the slip amounts H1t and H2t of the two loopers, and the magnitude of the output value Hc when performing PID calculation on the deviation e2(t). The sign of the output value Hc when performing PID calculation on the deviation e2(t) represents the torque direction of the winch motor; the set torque T0 of the winch motor corresponding to the looper represents the current operating level of the winch motor; the deviation e2(t) between the slip amounts H1t and H2t of the two loopers represents the degree of asynchrony between the two loopers. Based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the magnitude of the output value Hc when performing PID calculations on the deviation e2(t), the torque direction of the winch motor, the current operating level of the winch motor, and the degree of asynchrony between the two loopers are comprehensively considered. The looper quantity compensation coefficient β is set. The more factors are considered, the higher the precision of the setting, and the more accurate the control can be.

[0025] Furthermore, when setting the set compensation coefficient β based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the output value Hc of the deviation e2(t) during PID calculation, the order of judgment among the three factors—the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the output value Hc of the deviation e2(t) during PID calculation—is as follows: first, judge the magnitude of the output value Hc of the deviation e2(t) during PID calculation; then, judge the magnitude of the set torque T0 of the winch motor corresponding to the looper; and finally, judge the magnitude of the deviation e2(t) between the looper quantities H1t and H2t. The sign of the output value Hc when performing PID calculation on the deviation e2(t) represents the torque direction of the winch motor; the set torque T0 of the winch motor corresponding to the looper represents the current operating level of the winch motor. Both the torque direction and the current operating level of the winch motor are qualitative judgment quantities. When used for priority judgment, they help to save subsequent judgment steps, making them simpler.

[0026] Furthermore, when the output value Hc of the deviation e2(t) during PID calculation is ≥ 0, the set compensation coefficient β is set as follows:

[0027] When the set torque T0 of the winch motor corresponding to the looper is greater than or equal to 0.4, β = 1.1;

[0028] When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 1.05; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 1.75; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=1.75, Y0=1.05, X1=0.1, X0=0.015.

[0029] Furthermore, when the output value Hc of the deviation e2(t) during PID calculation is less than 0, the set compensation coefficient β is set as follows:

[0030] When the set torque T0 of the winch motor corresponding to the looper is greater than or equal to 0.4, β = 0;

[0031] When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 0.3; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 0.85; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=0.85, Y0=0.3, X1=0.1, X0=0.015.

[0032] Furthermore, a limit is set on the real-time calculated torque T after looper compensation, with a maximum limit of M. When the real-time calculated torque T > M, the looper winch motor operates at a torque of M. By limiting the torque T after looper compensation, control of the winch motor corresponding to the looper is achieved, protecting the winch motor from overload and burnout.

[0033] Furthermore, based on the strip thickness, the maximum limit M of the torque T after real-time calculation of the looper compensation is set. The strip thickness determines the load on the looper winch motor. Setting the maximum limit M of the torque T after real-time calculation of the looper compensation based on the strip thickness and the load on the looper winch motor can make the overload protection of the winch motor more accurate.

[0034] Furthermore, when the thickness of the strip is not less than 7mm, M is 1.1.

[0035] Furthermore, when the thickness of the strip is less than 7 mm, M is 0.96.

[0036] The present invention provides a method for synchronous operation control of a double-layer looper. The tension of the looper is determined by the torque of the winch motor corresponding to the looper. After setting the tension value of the looper, the tension value of the looper is converted into the torque of the winch motor. By adjusting the torque of the winch motor in real time, not only can the tension of the looper be controlled, but the control accuracy is also high.

[0037] This invention discloses a double-layer looper synchronous operation control method. While adjusting the winch motor torque in real time, it simultaneously performs PID control on the deviation e1(t) between the set speed V0 and the actual speed Vt of the loopers, and the deviation e2(t) between the looper's shearing amounts H1t and H2t. The PID control output of these deviations is then used as factors for torque compensation of the winch motor, resulting in real-time torque compensation and adjustment. The deviation e1(t) between the set speed V0 and the actual speed Vt represents the looper's own operating deviation; the deviation e2(t) between the looper's shearing amounts H1t and H2t represents the operating deviation between the two loopers. The PID control output of the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt of the looper and the deviation e2(t) between the looper's displacement H1t and H2t are used as factors for torque compensation of the winch motor. When real-time compensation and adjustment of the winch motor's torque is performed, it is based on its own operation and the operation of the two loopers. It not only takes into account its own operation deviation, but also the operation deviation between the two loopers. Under the compensation method that combines its own operation deviation and the operation deviation between the two loopers, the compensation factors are not only more numerous, but also more comprehensive. Compared with compensation control with a single compensation factor, the synchronous operation compensation control of the double-layer loopers in this invention has higher precision and accuracy.

[0038] This invention's double-layer looper synchronous operation control method, when using the operational deviation between the two loopers as a compensation factor for synchronous adjustment control of the loopers, considers that during the adjustment of the looper's shearing amount, there will inevitably be a situation where the looper with a larger shearing amount releases while the looper with a smaller shearing amount pulls. The work done by the winch motor when pulling the strip is usually greater than the work done by the winch motor when releasing the strip. In other words, the work done by the winch motor when releasing the strip is different from the work done by the winch motor when pulling the strip. To accommodate this difference and make the compensation for the two loopers more accurate, a shearing amount compensation coefficient β is set when calculating the looper shearing amount compensation value Hk. The setting of the shearing amount compensation coefficient β provides conditions for adjusting the influence of the operational deviation between the two loopers on the compensation result. This allows for different settings of the shearing amount compensation coefficient β under different conditions, making the final operation adjustment of the two loopers more closely match the actual situation, and the adjustment control more accurate.

[0039] The present invention provides a double-layer looper synchronous operation control method. When using the deviation e1(t) between the looper's set rotational speed V0 and the actual rotational speed Vt, and the deviation e2(t) between the looper's shearing amounts H1t and H2t, as factors for torque compensation of the winch motor, specifically, PID control is applied to the deviation e1(t) between the looper's set rotational speed V0 and the actual rotational speed Vt, and the deviation e2(t) between the looper's shearing amounts H1t and H2t. The PID control includes a proportional coefficient and an integral coefficient, which function under different conditions, enabling faster adjustment speed and higher adjustment efficiency after deviation.

[0040] This invention provides a method for controlling the synchronous operation of two-layer loopers. It offers a compensation method that simultaneously considers the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt of the loopers and the deviation e2(t) between the looper amounts H1t and H2t of the two loopers. By finely adjusting the looper torque in real time, it can effectively control the synchronous operation of the two-layer loopers, solving problems such as asynchronous or unbalanced looper amounts, tension fluctuations, and even excessively large differences in looper amounts, which can lead to uncontrolled loopers, loss of tension, machine shutdown, and scratches on the steel strip after loss of tension. Attached Figure Description

[0041] Figure 1 This is a diagram showing the operating data of the two loopers after adopting the double-layer looper synchronous operation control method of the present invention. Detailed Implementation

[0042] The preferred embodiment of the double-layer looper synchronous operation control method of the present invention will be described in detail below with reference to the accompanying drawings:

[0043] A method for controlling the synchronous operation of a double-layer looper includes the following steps:

[0044] S1. Set the tension value F0 and rotational speed V0 for each looper;

[0045] S2. Based on the tension value F0 set for the looper, calculate the set torque T0 of the winch motor corresponding to the looper using the following formula:

[0046] ;

[0047] ;

[0048] Where r is the radius of the winch drum, i is the gear ratio of the winch gearbox, t is the rated torque of the winch motor, Tm is the friction torque of the winch, Tg is the moment of inertia torque of the winch, p is the rated power of the winch motor, and n is the rated speed of the winch motor; r, i, t, Tm, Tg, p, and n are relevant parameters of the winch, all of which are known.

[0049] S3. Measure the actual rotational speed Vt of the looper in real time. Calculate the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt using the following formula. Perform PID calculation on the deviation e1(t) between the set speed V0 and the actual rotational speed Vt to obtain the looper rotational speed compensation value Vk:

[0050] ;

[0051] ;

[0052] Where Kp1 is the proportional coefficient set when performing PID calculation on the deviation e1(t), and Ki1 is the integral coefficient set when performing PID calculation on the deviation e1(t). When the deviation e1(t) between the set speed V0 and the actual speed Vt is large, the proportional coefficient plays a major role. When the deviation e1(t) between the set speed V0 and the actual speed Vt is small but persists, the integral coefficient will gradually take effect, and through compensation, the deviation e1(t) between the set speed V0 and the actual speed Vt will be reduced.

[0053] S4. Real-time measurement of the current looper quantity H1t and the looper quantity H2t of another looper. The quantity refers to the ratio of the stored steel quantity to the maximum storage quantity of the looper. For example, if the maximum storage quantity of the looper is 500m and the stored steel quantity is 200m, the stored steel quantity of the looper accounts for 200 / 500 of the maximum storage quantity of the looper, which is the current quantity of the looper.

[0054] Calculate the deviation e2(t) between the loop quantities H1t and H2t of the two loops using the following formula, and perform PID calculation on the deviation e2(t) between the loop quantities H1t and H2t of the two loops to calculate the loop quantity compensation value Hk:

[0055] ;

[0056] ;

[0057] ;

[0058] Where Hc is the output value when performing PID calculation on the deviation e2(t), Kp2 is the proportional coefficient set when performing PID calculation on the deviation e2(t), Ki2 is the integral coefficient set when performing PID calculation on the deviation e2(t), and β is the set loop compensation coefficient. When the deviation e2(t) between the loop quantities H1t and H2t of the two loops is large, the proportional coefficient plays a major role. When the deviation e2(t) between the loop quantities H1t and H2t of the two loops is small but persists, the integral coefficient will gradually take effect. Through compensation, the deviation e2(t) between the loop quantities H1t and H2t of the two loops is reduced.

[0059] S5. Based on the real-time calculated looper speed compensation value Vk and looper shearing amount compensation value Hk, calculate the torque compensation value Tk of the winch motor corresponding to the looper according to the following formula:

[0060] ;

[0061] S6. Calculate the torque T after looper compensation in real time using the following formula:

[0062] ;

[0063] Based on the above steps, the torque of the two loopers is compensated and adjusted in real time, so that the motors of the two loopers winches run at the real-time compensated torque T, thereby realizing the synchronous control of the double-layer looper operation.

[0064] The present invention provides a method for synchronous operation control of a double-layer looper. The tension of the looper is determined by the torque of the winch motor corresponding to the looper. After setting the tension value of the looper, the tension value of the looper is converted into the torque of the winch motor. By adjusting the torque of the winch motor in real time, not only can the tension of the looper be controlled, but the control accuracy is also high.

[0065] This invention discloses a double-layer looper synchronous operation control method. While adjusting the winch motor torque in real time, it simultaneously performs PID control on the deviation e1(t) between the set speed V0 and the actual speed Vt of the loopers, and the deviation e2(t) between the looper's shearing amounts H1t and H2t. The PID control output of these deviations is then used as factors for torque compensation of the winch motor, resulting in real-time torque compensation and adjustment. The deviation e1(t) between the set speed V0 and the actual speed Vt represents the looper's own operating deviation; the deviation e2(t) between the looper's shearing amounts H1t and H2t represents the operating deviation between the two loopers. The PID control output of the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt of the looper and the deviation e2(t) between the looper's displacement H1t and H2t are used as factors for torque compensation of the winch motor. When real-time compensation and adjustment of the winch motor's torque is performed, it is based on its own operation and the operation of the two loopers. It not only takes into account its own operation deviation, but also the operation deviation between the two loopers. Under the compensation method that combines its own operation deviation and the operation deviation between the two loopers, the compensation factors are not only more numerous, but also more comprehensive. Compared with compensation control with a single compensation factor, the synchronous operation compensation control of the double-layer loopers in this invention has higher precision and accuracy.

[0066] This invention's double-layer looper synchronous operation control method, when using the operational deviation between the two loopers as a compensation factor for synchronous adjustment control of the loopers, considers that during the adjustment of the looper's shearing amount, there will inevitably be a situation where the looper with a larger shearing amount releases while the looper with a smaller shearing amount pulls. The work done by the winch motor when pulling the strip is usually greater than the work done by the winch motor when releasing the strip. In other words, the work done by the winch motor when releasing the strip is different from the work done by the winch motor when pulling the strip. To accommodate this difference and make the compensation for the two loopers more accurate, a shearing amount compensation coefficient β is set when calculating the looper shearing amount compensation value Hk. The setting of the shearing amount compensation coefficient β provides conditions for adjusting the influence of the operational deviation between the two loopers on the compensation result. This allows for different settings of the shearing amount compensation coefficient β under different conditions, making the final operation adjustment of the two loopers more closely match the actual situation, and the adjustment control more accurate.

[0067] The present invention provides a double-layer looper synchronous operation control method. When using the deviation e1(t) between the looper's set rotational speed V0 and the actual rotational speed Vt, and the deviation e2(t) between the looper's shearing amounts H1t and H2t, as factors for torque compensation of the winch motor, specifically, PID control is applied to the deviation e1(t) between the looper's set rotational speed V0 and the actual rotational speed Vt, and the deviation e2(t) between the looper's shearing amounts H1t and H2t. The PID control includes a proportional coefficient and an integral coefficient, which function under different conditions, enabling faster adjustment speed and higher adjustment efficiency after deviation.

[0068] This invention provides a method for controlling the synchronous operation of two-layer loopers. It offers a compensation method that simultaneously considers the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt of the loopers, and the deviation e2(t) between the looper's shearing amounts H1t and H2t. Through precise real-time adjustment of the looper torque, it can effectively control the synchronous operation of the two loopers, solving problems such as asynchronous or unbalanced looper shearing amounts, tension fluctuations, and even excessive differences in looper shearing amounts, which can lead to uncontrolled loopers, loss of tension, machine shutdown, and scratches on the steel strip after loss of tension. The operating data diagram of the two loopers after adopting this invention's synchronous operation control method is shown below. Figure 1 As shown.

[0069] In the present invention's method for synchronous operation control of double-layer loopers, preferably, in step S4, the looper compensation coefficient β is set based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the magnitude of the output value Hc of the PID calculation using the deviation e2(t). The sign of the output value Hc of the PID calculation using the deviation e2(t) represents the torque direction of the winch motor; the set torque T0 of the winch motor corresponding to the looper represents the current operating level of the winch motor; and the deviation e2(t) between the looper quantities H1t and H2t represents the degree of asynchrony between the two loopers. Based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the magnitude of the output value Hc when performing PID calculations on the deviation e2(t), the torque direction of the winch motor, the current operating level of the winch motor, and the degree of asynchrony between the two loopers are comprehensively considered. The looper quantity compensation coefficient β is set. The more factors are considered, the higher the precision of the setting, and the more accurate the control can be.

[0070] In the present invention, the method for controlling the synchronous operation of a double-layer looper is preferably based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the magnitude of the output value Hc of the deviation e2(t) during PID calculation. When setting the set looper compensation coefficient β, the order of judging the three factors from first to last is as follows: first, judge the magnitude of the output value Hc of the deviation e2(t) during PID calculation; then, judge the magnitude of the set torque T0 of the winch motor corresponding to the looper; and finally, judge the magnitude of the deviation e2(t) between the looper quantities H1t and H2t. The sign of the output value Hc when performing PID calculation on the deviation e2(t) represents the torque direction of the winch motor; the set torque T0 of the winch motor corresponding to the looper represents the current operating level of the winch motor. Both the torque direction and the current operating level of the winch motor are qualitative judgment quantities. When used for priority judgment, they help to save subsequent judgment steps, making them simpler.

[0071] In the present invention, the double-layer looper synchronous operation control method preferably sets the looper compensation coefficient β according to the following method when the output value Hc of the deviation e2(t) during PID calculation is ≥0:

[0072] When the set torque T0 of the winch motor corresponding to the looper is greater than or equal to 0.4, β = 1.1;

[0073] When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 1.05; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 1.75; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=1.75, Y0=1.05, X1=0.1, X0=0.015.

[0074] In the present invention's double-layer looper synchronous operation control method, preferably, when the output value Hc of the deviation e2(t) during PID calculation is <0, the set looper compensation coefficient β is set according to the following method:

[0075] When the set torque T0 of the winch motor corresponding to the looper is greater than or equal to 0.4, β = 0;

[0076] When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 0.3; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 0.85; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=0.85, Y0=0.3, X1=0.1, X0=0.015.

[0077] The present invention provides a dual-layer looper synchronous operation control method, preferably by setting a limit on the real-time calculated looper compensation torque T, with the maximum limit T set to M. When the real-time calculated looper compensation torque T > M, the looper winch motor operates at a torque of M. By limiting the looper compensation torque T, control of the winch motor corresponding to the looper is achieved, protecting the winch motor from overload and burnout.

[0078] The present invention provides a dual-layer looper synchronous operation control method, preferably in which the maximum limit M of the real-time calculated looper-compensated torque T is set based on the strip thickness. The strip thickness determines the load on the looper winch motor. Setting the maximum limit M of the real-time calculated looper-compensated torque T based on the strip thickness and the load on the looper winch motor allows for more accurate overload protection of the winch motor.

[0079] In the present invention, the synchronous operation control method for double-layer looper is preferably M = 1.1 when the thickness of the strip is not less than 7 mm.

[0080] In the present invention, the synchronous operation control method for double-layer looper is preferably M = 0.96 when the thickness of the strip is less than 7 mm.

[0081] For those skilled in the art, without departing from the concept of this invention, several simple deductions or substitutions can be made, and all such deductions or substitutions should be considered to fall within the scope of protection of this invention.

Claims

1. A method for controlling the synchronous operation of a double-layer looper, characterized in that: Includes the following steps: S1. Set the tension value F0 and rotational speed V0 for each looper; S2. Based on the tension value F0 set for the looper, calculate the set torque T0 of the winch motor corresponding to the looper using the following formula: ； ； Where r is the radius of the winch drum, i is the gear reduction ratio of the winch gearbox, t is the rated torque of the winch motor, Tm is the friction torque of the winch, Tg is the moment of inertia torque of the winch, p is the rated power of the winch motor, and n is the rated speed of the winch motor. S3. Measure the actual rotational speed Vt of the looper in real time. Calculate the deviation e1(t) between the set rotational speed V0 and the actual rotational speed Vt using the following formula. Perform PID calculation on the deviation e1(t) between the set speed V0 and the actual rotational speed Vt to obtain the looper rotational speed compensation value Vk: ； ； Where Kp1 is the proportional coefficient set when performing PID calculation on the deviation e1(t), and Ki1 is the integral coefficient set when performing PID calculation on the deviation e1(t). S4. Measure the current looper quantity H1t and the looper quantity H2t of the other looper in real time. Calculate the deviation e2(t) between the two looper quantities H1t and H2t using the following formula. Perform PID calculation on the deviation e2(t) between the two looper quantities H1t and H2t to calculate the looper quantity compensation value Hk: ； ； ； Where Hc is the output value when performing PID calculation on deviation e2(t), Kp2 is the proportional coefficient set when performing PID calculation on deviation e2(t), Ki2 is the integral coefficient set when performing PID calculation on deviation e2(t), and β is the set overlay compensation coefficient. S5. Based on the real-time calculated looper speed compensation value Vk and looper shearing amount compensation value Hk, calculate the torque compensation value Tk of the winch motor corresponding to the looper according to the following formula: ； S6. Calculate the torque T after looper compensation in real time using the following formula: ； Based on the above steps, the torque of the two loopers is compensated and adjusted in real time, so that the motors of the two loopers winches run at the real-time compensated torque T, thereby realizing the synchronous control of the double-layer looper operation.

2. The double-layer looper synchronous operation control method according to claim 1, characterized in that: In step S4, the sleeve compensation coefficient β is set based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the sleeve amounts H1t and H2t of the two loopers, and the output value Hc of the deviation e2(t) when performing PID calculation.

3. The double-layer looper synchronous operation control method according to claim 2, characterized in that: Based on the set torque T0 of the winch motor corresponding to the looper, the deviation e2(t) between the looper quantities H1t and H2t, and the magnitude of the output value Hc of the deviation e2(t) during PID calculation, when setting the set looper compensation coefficient β, the order of judging the three factors from first to last is as follows: first judge the magnitude of the output value Hc of the deviation e2(t) during PID calculation, then judge the magnitude of the set torque T0 of the winch motor corresponding to the looper, and finally judge the magnitude of the deviation e2(t) between the looper quantities H1t and H2t.

4. The double-layer looper synchronous operation control method according to claim 1, characterized in that: When the output value Hc of the deviation e2(t) during PID calculation is ≥ 0, the overlay compensation coefficient β in step S4 is set as follows: When the set torque T0 of the winch motor corresponding to the looper is ≥ 0.4, β = 1.1; When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 1.05; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 1.75; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=1.75, Y0=1.05, X1=0.1, X0=0.

015.

5. The double-layer looper synchronous operation control method according to claim 1, characterized in that: When the output value Hc of the deviation e2(t) during PID calculation is less than 0, the overlay compensation coefficient β in step S4 is set as follows: When the set torque T0 of the winch motor corresponding to the looper is greater than or equal to 0.4, β = 0; When the set torque T0 of the winch motor corresponding to the looper is less than 0.4, the deviation e2(t) between the looper's displacements H1t and H2t is determined, and the set displacement compensation coefficient β is set accordingly: if the deviation e2(t) between the looper's displacements H1t and H2t is ≤ 0.015, β = 0.3; if the deviation e2(t) between the looper's displacements H1t and H2t is ≥ 0.1, β = 0.85; if the deviation e2(t) between the looper's displacements H1t and H2t is 0.015... <e2(t)< 0.1, Where Y1=0.85, Y0=0.3, X1=0.1, X0=0.

015.

6. The double-layer looper synchronous operation control method according to claim 1, characterized in that: The value of the torque T after real-time looper compensation is limited, and the maximum limit of the torque T after real-time looper compensation is set to M.

7. The double-layer looper synchronous operation control method according to claim 6, characterized in that: Based on the thickness of the strip, the maximum limit M of the torque T after real-time calculation and looper compensation is set.

8. The method for synchronous operation control of a double-layer looper according to claim 6, characterized in that: When the thickness of the strip is not less than 7mm, M is 1.

1.

9. The double-layer looper synchronous operation control method according to claim 6, characterized in that: When the thickness of the strip is less than 7mm, M is 0.96.

Images