Eccentricity compensation method, device and system for supporting roller of cold rolling mill

Abstract

The invention discloses an eccentricity compensation method, device and system for a supporting roller of a cold rolling mill, and the method comprises the steps: obtaining an inlet thickness through measurement, carrying out the delayed output, and determining an outlet thickness calculation value according to the inlet thickness outputted in a delayed manner; obtaining an outlet thickness measurement value through measurement, and determining a calculation thickness error according to the outlet thickness measurement value and the outlet thickness calculation value; a back-up roll rotation double-frequency component and a back-up roll rotation double-frequency component in the thickness error are filtered and calculated, and a back-up roll eccentric main body signal is obtained; based on the backup roller eccentric main body signal, reconstructing the backup roller eccentric main body signal through a recursive least square method; performing phase deviation on the reconstructed backup roller eccentric main body signal; determining a roll gap compensation value according to the backup roll eccentric main body signal after phase deviation; and controlling the roll gap according to the roll gap compensation value. By means of the method, accurate compensation of the eccentricity of the supporting roller is achieved, and the quality of rolled products is improved.

Description

Technical Field

[0001] The invention relates to the field of automatic control of cold rolling mills, and in particular to an eccentricity compensation method, device and system for supporting rollers of a cold rolling mill. Background Art

[0002] The situation where the rotation axis and geometric axis of the roll do not exactly coincide due to the irregular shapes of the rolls and roll bearings is called roll eccentricity. These irregular shapes may be caused by the manufacturing, grinding, assembly, wear, thermal expansion and other processes of the rolls. Since the roll diameter of the support roll is much larger than that of the working roll and the intermediate roll, the roll eccentricity is mainly caused by the non-roundness of the support roll itself and the roll diameter being not coaxial with other rolls.

[0003] In strip production, the eccentricity of the support roll will cause the automatic thickness control system of the rolling mill to make adjustments in the opposite direction, causing the rolled thickness of the strip to fluctuate periodically, which has a great impact on the thickness accuracy of the strip. For this reason, many companies and research institutions have studied the compensation method of roll eccentricity for decades. The current main method is the active roll eccentricity control method. This method generally obtains a compensation signal through the roll eccentricity component detection, and then sends it to the roll gap control regulator to compensate for the roll eccentricity. This method is currently the best and most accurate method.

[0004] The roll eccentricity signal is a periodic signal, which can be decomposed into infinite series, among which only some frequency components are dominant. Since the main signal occupies most of the energy in the eccentricity signal, if the main part of the eccentricity signal can be extracted, the corresponding roll gap compensation can be calculated and reversely compensated to the roll gap setting value, most of the influence of the support roll eccentricity on the strip thickness difference at the exit can be eliminated, and the strip thickness control accuracy can be greatly improved.

[0005] The prior art lacks a method for extracting the main signal, which makes it difficult to achieve accurate compensation for the roll gap setting value. Summary of the invention

[0006] The object of the present invention is to provide a method, device and system for compensating the eccentricity of the support rolls of a cold rolling mill, so as to achieve accurate compensation for the roll gap setting value of the cold rolling mill and improve the control accuracy of the strip thickness.

[0007] In order to solve the above technical problems, the present invention provides a technical solution: a method for compensating the eccentricity of a support roller of a cold rolling mill, comprising the following steps:

[0008] S1. Obtain the inlet thickness by measuring and outputting it with delay, and determine the calculated value of the outlet thickness according to the inlet thickness output with delay; obtain the outlet thickness measurement value by measuring, and determine the calculated thickness error according to the outlet thickness measurement value and the outlet thickness calculation value;

[0009] S2, filtering and calculating the support roller rotation frequency component of the thickness error and the support roller rotation frequency component of the thickness error to obtain the support roller eccentricity main body signal;

[0010] S3, based on the support roller eccentricity main body signal, reconstructing the support roller eccentricity main body signal by recursive least square method;

[0011] S4, performing phase shift on the reconstructed support roller eccentricity main body signal;

[0012] S5. Determine the roller gap compensation value according to the main eccentricity signal of the supporting roller after the phase shift;

[0013] S6. Control the roll gap according to the roll gap compensation value.

[0014] According to the above scheme, step S1 includes:

[0015] S101, obtaining the entrance thickness through an entrance thickness gauge, and outputting the entrance thickness delay as a single-delay entrance thickness;

[0016] S102, determining the inlet flow rate per second at the current moment according to the first delayed inlet thickness and the corrected inlet velocity at the previous moment;

[0017] S103, delaying the inlet second flow rate and outputting it as delayed inlet second flow rate;

[0018] S104, obtaining the inlet and outlet second flow rate difference according to the delayed inlet second flow rate and the measured outlet second flow rate; integrating the inlet and outlet second flow rate difference to obtain the inlet velocity correction factor;

[0019] S105, outputting the first delayed entrance thickness as the second delayed entrance thickness;

[0020] S106, determining a corrected inlet velocity according to the inlet velocity correction factor and the measured inlet velocity;

[0021] S107, determining and calculating the thickness error according to the measured outlet thickness, the secondary delayed inlet thickness, the corrected inlet velocity, and the measured outlet velocity.

[0022] According to the above scheme, step S2 includes:

[0023] S201, setting a blocking frequency of a first band-stop analog filter;

[0024] S202, using a bilinear transformation method to transform the first band-stop analog filter into a first band-stop digital filter;

[0025] S203, using a first band-stop digital filter to filter the frequency component of the support roller rotating by one time in the calculated thickness error;

[0026] S204, setting the blocking frequency of the second band-stop analog filter;

[0027] S205, using a bilinear transformation method to transform the second band-stop analog filter into a second band-stop digital filter;

[0028] S206, using a second band-stop digital filter to filter the double frequency component of the support roller rotation in the calculated thickness error.

[0029] According to the above scheme, step S3 includes:

[0030] S301, constructing an expression for an estimated value of the support roller eccentricity main body signal;

[0031] S302, using a recursive least squares method to update the estimated value of the support roller eccentricity main body signal until the estimated error between the estimated value of the support roller eccentricity main body signal and the support roller eccentricity main body signal is less than a set value;

[0032] S303, reconstructing the support roller eccentricity main body signal according to the support roller eccentricity main body signal estimation value.

[0033] According to the above scheme, step S4 includes:

[0034] S401, determining the phase offset of the upper support roller according to the angular velocity of the upper support roller, the measured exit speed, and the distance from the roll gap of the rolling mill to the exit thickness gauge;

[0035] S402, determining the phase offset of the lower support roller according to the angular velocity of the lower support roller, the measured exit speed, and the distance from the roll gap of the rolling mill to the exit thickness gauge;

[0036] S403: Perform phase shift on the reconstructed supporting roller eccentric main body signal according to the phase shift amounts of the upper supporting roller and the lower supporting roller.

[0037] According to the above scheme, step S5 includes:

[0038] S501, determining a preliminary roll gap compensation value according to the main eccentricity signal of the support roll after phase shift, the stiffness coefficient of the rolling mill frame, the plasticity coefficient of the strip steel, and the set adjustment coefficient;

[0039] S502, limiting the amplitude of the preliminary roll gap compensation value within a set range to obtain a roll gap compensation value.

[0040] The present invention also provides an eccentricity compensation device for a cold rolling mill support roller, comprising:

[0041] A calculated thickness error determination module is used to output the measured inlet thickness with a time delay, and determine the outlet thickness calculation value according to the inlet thickness output with a time delay; and to determine the calculated thickness error according to the measured outlet thickness measurement value and the outlet thickness calculation value;

[0042] A filtering module is used to filter the support roller rotation frequency component and the support roller rotation frequency component in the calculated thickness error to obtain the support roller eccentricity main body signal;

[0043] A support roller eccentricity main body signal reconstruction module is used to reconstruct the support roller eccentricity main body signal through a recursive least square method based on the support roller eccentricity main body signal;

[0044] A phase shift module, used for performing phase shift on the reconstructed support roller eccentricity main body signal;

[0045] A roll gap compensation value determination module is used to determine the roll gap compensation value according to the support roll eccentricity main body signal after phase shift;

[0046] The roll gap control module is used to control the roll gap according to the roll gap compensation value.

[0047] According to the above scheme, the thickness error calculation determination module includes a shift register, and the shift register is used to delay the output of the measured entrance thickness.

[0048] An eccentricity compensation system for a cold rolling mill support roller, characterized by comprising:

[0049] The eccentricity compensation device for the cold rolling mill support roll as described above;

[0050] The measuring component is used to obtain the inlet thickness and outlet thickness measurement values.

[0051] The present invention also provides a cold rolling mill provided with the above-mentioned eccentricity compensation system for the cold rolling mill support rollers.

[0052] The beneficial effects of the present invention are as follows: by filtering and calculating the single-frequency component and the double-frequency component of the support roller rotation in the thickness error, the main signal of the support roller eccentricity of a specific frequency is retained, thereby improving the accuracy of the subsequent reconstructed signal; by utilizing the recursive least squares method, a more accurate reconstruction of the main signal of the support roller eccentricity is achieved, the control accuracy of the support roller eccentricity compensation is improved, the adverse effects on the strip outlet thickness are reduced, and the accuracy of the overall thickness control is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of a thickness control system and main detection instruments of a single-stand six-roller reversible cold rolling mill according to an embodiment of the present invention;

[0054] Figure 2The present invention is a flow chart of a method for compensating the eccentricity of a cold rolling mill support roller according to an embodiment of the present invention.

[0055] In the figure: 1-entry coiler, 2-first steering roller, 3-entry laser speed meter, 4-hydraulic cylinder, 5-entry thickness gauge, 6-strip steel, 7-upper support roller, 8-lower support roller, 9-PLC controller, 10-exit laser speed meter, 11-exit thickness gauge, 12-second steering roller, 13-exit coiler. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0057] join Figure 2 This embodiment discloses a method for compensating the eccentricity of a support roller of a cold rolling mill, comprising the following steps:

[0058] S1. Obtain the inlet thickness by measuring and outputting it with delay, and determine the calculated value of the outlet thickness according to the inlet thickness output with delay; obtain the outlet thickness measurement value by measuring, and determine the calculated thickness error according to the outlet thickness measurement value and the outlet thickness calculation value;

[0059] Step S1 specifically includes the following steps:

[0060] S101, obtaining the entrance thickness through an entrance thickness gauge, and outputting the entrance thickness delay as a single-delay entrance thickness;

[0061] The delayed output in step S101 includes:

[0062] Determine the first delay time by measuring the inlet speed and the distance between the inlet thickness gauge and the roll gap of the frame;

[0063] Using the first shift register, after the entrance thickness is acquired and a first delay time has passed, outputting a delayed entrance thickness;

[0064] S102, determining the inlet flow rate per second at the current moment according to the first delayed inlet thickness and the corrected inlet velocity at the previous moment;

[0065] MF entry,gap (n) = H act,gap ×V corr,entry (n-1)

[0066] In the above formula, MF entry,gap(n) is the inlet second flow rate at the current moment, H act,gap is the first time delay entrance thickness, V corr,entry (n-1) is the corrected inlet velocity at the previous moment;

[0067] S103, delaying the inlet second flow rate and outputting it as delayed inlet second flow rate;

[0068] The delayed transmission in step S103 includes:

[0069] The second delay time is determined by the measured exit speed and the distance between the roll gap of the frame and the exit thickness gauge;

[0070] Using the second shift register, after determining the inlet second flow rate and after a second delay time, outputting the delayed inlet second flow rate;

[0071] S104, obtaining the inlet and outlet second flow rate difference according to the delayed inlet second flow rate and the measured outlet second flow rate; integrating the inlet and outlet second flow rate difference to obtain the inlet velocity correction factor;

[0072]

[0073] In the above formula, C entryV (n) is the inlet velocity correction factor at the current moment, T A is the set sampling time (of the PLC controller), T N is the set integration time parameter (of the integrator), h act (k), V exit (k), MF entry,xthg (k) are the outlet thickness (measured by the outlet thickness gauge), outlet velocity (measured by the outlet laser velocimeter), and delayed inlet flow rate per second at a certain moment in the past, h act (k)×V exit (k) means the export flow rate per second;

[0074] S105, outputting the first delayed entrance thickness as the second delayed entrance thickness;

[0075] The delayed transmission in step S105 includes:

[0076] The third delay time is determined by the measured exit speed and the distance between the roll gap of the frame and the exit thickness gauge;

[0077] Using the third shift register, after outputting the first delay entrance thickness and after a third delay time, outputting the second delay entrance thickness;

[0078] S106, determining a corrected inlet velocity according to the inlet velocity correction factor and the measured inlet velocity;

[0079] V corr,entry (n) = V entry (n)×(1.0+C entryV (n))

[0080] In the above formula, V entry (n) is the inlet velocity measured at the current moment, V corr,entry (n) is the corrected inlet velocity at the current moment;

[0081] S107, determining and calculating the thickness error according to the measured outlet thickness, the secondary delayed inlet thickness, the corrected inlet velocity, and the measured outlet velocity;

[0082]

[0083] In the above formula, Eh xthg is the calculated thickness error at the outlet thickness gauge, h act is the outlet thickness measured by the outlet thickness gauge, H act,xthg is the secondary delay entrance thickness, V exit (n) is the exit velocity measured (by an exit laser velocimeter);

[0084] Since the strip thickness measured by the exit thickness gauge contains eccentricity signals and other interference signals in the rolling process, while the calculated exit thickness does not contain these signals, the calculated thickness error contains eccentricity signals and other interference signals.

[0085] S2, filtering and calculating the support roller rotation frequency component of the thickness error and the support roller rotation frequency component of the thickness error to obtain the support roller eccentricity main body signal;

[0086] Step S2 specifically includes the following steps:

[0087] S201, setting a blocking frequency of a first band-stop analog filter;

[0088]

[0089] In the above formula, F stop1 is the blocking frequency of the first band-stop analog filter, V stand is the linear speed of the rolling mill stand, D bur is the support roller diameter;

[0090] Therefore, the transfer function of the first band-stop analog filter is:

[0091]

[0092] In the above formula, A F is the filter gain, j is the unit representing imaginary numbers in Laplace transform, and BW is the bandwidth.

[0093] S202, using a bilinear transformation method to transform the first band-stop analog filter into a first band-stop digital filter;

[0094] The difference equation representation of the band-stop digital filter is:

[0095] Y(n)=-B1×Y(n-1)-B2×Y(n-2)+A0×[X(n)+X(n-2)]+A1×X(n

[0096] -1)

[0097] In the above formula, Y(n) represents the filter output at the current moment, Y(n-1) and Y(n-2) represent the filter output values ​​at the previous moment and the previous two moments respectively; X(n), X(n-1) and X(n-2) represent the filter input values ​​at the current moment, the previous moment and the previous two moments respectively; A0, A1, B1 and B2 are digital filter coefficients, which are obtained by bilinear transformation method;

[0098] S203, using a first band-stop digital filter to filter the frequency component of the support roller rotating by one time in the calculated thickness error;

[0099] S204, setting the blocking frequency of the second band-stop analog filter;

[0100]

[0101] In the above formula, F stop2 is the blocking frequency of the second band-stop analog filter;

[0102] Therefore, the transfer function of the second band-stop analog filter is:

[0103]

[0104] In the above formula,

[0105] S205, using a bilinear transformation method to transform the second band-stop analog filter into a second band-stop digital filter;

[0106] The method of step S205 is similar to that of step S202, and will not be described again here;

[0107] S206, using a second band-stop digital filter to filter the double frequency component of the support roller rotation in the calculated thickness error;

[0108] After the calculated thickness error is filtered by the first band-stop digital filter and the second band-stop digital filter, the main body signal of the support roller eccentricity is obtained;

[0109] ECC bur (n) = [Eh xthg (n)-BSF1(Eh xthg (n))]+[Eh xthg (n)-BSF2(Eh xthg (n))]

[0110] In the above formula, ECC bur (n) is the main signal of the support roller eccentricity, BSF1(Eh xthg (n)) is the output value of the first band-stop digital filter after calculating the thickness error, BSF2 (Eh xthg (n)) is the output value of the calculated thickness error after passing through the second band-stop digital filter;

[0111] S3, based on the support roller eccentricity main body signal, reconstructing the support roller eccentricity main body signal by recursive least square method;

[0112] Step S3 specifically includes the following steps:

[0113] S301, constructing an expression for an estimated value of the support roller eccentricity main body signal;

[0114] First, determine the expression of the estimated value of the support roller eccentricity main signal:

[0115] ECE bur =a1sin(ω1t+b1)+a2sin(2ω1t+b2)+a3sin(ω2t+b3)+a4sin(2ω2t

[0116] +b4)

[0117] =a1sin(2πf1t+b1)+a2sin(4πf1t+b2)+a3sin(2πf2t+b3)

[0118] +a4sin(4πf2t+b4)

[0119] In the above formula, ECE bur is the estimated value of the main signal of the support roller eccentricity, a1, a2, a3, a4 are the amplitude parameters to be identified; b1, b2, b3, b4 are the phase angle parameters to be identified, ω1 and ω2 are the angular velocities of the upper support roller and the lower support roller, respectively, and f1 and f2 are the rotation frequencies of the upper support roller and the lower support roller, respectively;

[0120] Then based on the trigonometric formula Rewrite the above formula into matrix form:

[0121] ECE bur

[0122] =[sinω1t cosω1t sin2ω1t cos2ω1t sinω2t cosω2t sin2ω2t cos2ω2t]

[0123] ×[a1cosb1a1sinb1a2cosb2a2sinb2a3cosb3a3sinb3a4cosb1a4sinb4] T

[0124] =K·θ T

[0125] In the above formula, K is the known quantity matrix that can be determined by ω1 and ω2, and θ is the position parameter matrix that needs to be determined by estimation;

[0126] S302, using a recursive least squares method to update the estimated value of the support roller eccentricity main body signal until the estimated error between the estimated value of the support roller eccentricity main body signal and the support roller eccentricity main body signal is less than a set value;

[0127] Set the initial value of θ to:

[0128] θ T (0) = [0.0 1.0 0.0 1.0 0.0 1.0 0.0 1.0] T

[0129] For each sampling moment, the estimated value of the support roller eccentricity main body signal is calculated and compared with the actual support roller eccentricity main body signal to obtain the estimated error:

[0130] Err(n)=ECC bur (n)-K(n)·θ T (n-1)

[0131] In the above formula, Err(n), ECC bur (n), K(n) are the estimated error at the current sampling moment, the support roller eccentricity main body signal, and the known quantity matrix, θ T (n-1) is the position parameter matrix of the previous sampling moment;

[0132] According to the estimation error, the least squares algorithm is used to update θ to obtain the position parameter matrix θ at the current sampling time. T (n);

[0133] After several online recursions, the estimation error gradually decreases. When the estimation error reaches a very small value ε, the recursive algorithm is considered to have converged and ends.

[0134] S303, reconstructing the support roller eccentricity main body signal according to the support roller eccentricity main body signal estimation value;

[0135] According to the converged θ T (n) Determine the amplitude parameter and phase angle parameter of the support roller eccentricity main signal:

[0136]

[0137] Using a sinusoidal signal generator, based on the amplitude parameter and phase angle parameter of the support roller eccentricity main signal, the support roller eccentricity main signal is reconstructed;

[0138] S4, performing phase shift on the reconstructed support roller eccentricity main body signal;

[0139] Input support roller eccentric body signal ECC bur It is calculated based on the signal at the exit thickness gauge, but in reality it is necessary to compensate for the main signal of the eccentricity of the support roll at the roll gap of the rolling mill, so it is necessary to make a phase shift on the phase angle of the reconstructed eccentricity signal; the offset calculation method is:

[0140]

[0141] In the above formula, are the phase offset of the upper support roller and the phase offset of the lower support roller, L M It is the distance from the mill roll gap to the exit thickness gauge;

[0142] Therefore, the main signal of the support roller eccentricity after phase shift is expressed as:

[0143]

[0144] S5. Determine the roller gap compensation value according to the main eccentricity signal of the supporting roller after the phase shift;

[0145] The calculation process of determining the roll gap compensation value based on the rolling mill bounce equation is as follows:

[0146]

[0147] In the above formula, S C is the roller gap compensation value, LIM represents the amplitude limiting operation, and in this embodiment, the amplitude limiting value of the roller gap compensation value is -0.04 to 0.04 mm, C A is the adjustment coefficient, which can be adjusted between 0.1 and 1.0 according to the actual situation. In this embodiment, it is set to 0.8. G is the stiffness coefficient of the rolling mill frame, C M is the plasticity coefficient of the strip;

[0148] S6. Control the roll gap according to the roll gap compensation value.

[0149] This embodiment proposes a method for compensating for support roller eccentricity based on a digital band-stop filter and recursive estimation. First, the inlet speed is corrected according to the difference in second flow rates between the inlet and outlet, and the calculated outlet thickness is transmitted to the outlet thickness gauge with a time delay through a shift register, and the error in the calculated thickness is obtained by comparing it with the measured thickness. Then, a band-stop filter is designed to filter out the components of the support roller rotation frequency of one and two times in the calculated thickness error, and the main signal of the support roller eccentricity is calculated. The parameters of the eccentric main signal are estimated using an online recursive algorithm, and the corresponding roller gap compensation amount is calculated based on the reconstructed eccentric main signal. This method uses a shift register to synchronize the thickness calculated by the second flow rate with the thickness measured by the outlet thickness gauge in time, and uses the second flow rate difference between the inlet and outlet to correct the inlet speed, thereby improving the accuracy of the thickness calculated by the second flow equation. A band-stop filter is designed to filter out interference signals of other frequencies, and only retains the main body of the eccentric signal of a specific frequency. The unknown parameter matrix is ​​calculated using an online recursive method, which can accurately reconstruct the eccentric main signal, thereby achieving accurate compensation for the eccentricity of the support roller, reducing the adverse effects on the strip outlet thickness, and improving the accuracy of the overall thickness control.

[0150] In order to realize the eccentricity compensation method of the cold rolling mill support roller described in this embodiment, this embodiment also provides a control system for realizing the method, see Figure 1 . Figure 1 The rolling direction shown is from left to right, and the next pass will be from right to left, and then reverse and roll repeatedly. In the current pass, the strip 6 starts from the entrance coiler 1, passes through the first steering roller 2 and is then rolled in a six-roll mill (the mill includes an upper support roller 7 and a lower support roller 8), the hydraulic cylinder 4 provides the rolling force, and then passes through the second steering roller 12, and finally is coiled on the exit coiler 13. The unit is equipped with an entrance laser velocimeter 3 and an exit laser velocimeter 10, which are used to measure the entrance and exit speeds of the mill respectively, and is also equipped with an entrance thickness gauge 5 and an exit thickness gauge 11, which measure the entrance and exit strip thickness respectively. All rolling process control functions are completed by programming in the PLC controller 9, and the specific control functions mainly include thickness control, hydraulic roll gap control, tension control, transmission control, bending roll shifting roll control, plate shape control, etc. The compensation for the eccentricity of the support rolls of the rolling mill is part of the thickness control. The corresponding roll gap compensation amount is calculated based on the eccentricity signal, and the reverse compensation is made to the roll gap set value to achieve compensation for the eccentricity of the support rolls.

[0151] It is to be understood that the embodiments described herein can be implemented by hardware, software, firmware, middleware, microcode, or any combination thereof. For hardware implementations, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic controllers (PLCs), field programmable gate arrays (FPGAs), processors, controllers, microprocessors, microcontrollers, other electronic units designed to perform the functions described herein, or combinations thereof. When the embodiments are implemented in software, firmware, middleware, or microcode, program code, or code segments, they can be stored in a machine-readable medium such as a storage component.

[0152] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for compensating the eccentricity of a support roll of a cold rolling mill, characterized in that: The following steps are involved: S1. Obtain the inlet thickness by measuring and outputting it with delay, and determine the calculated value of the outlet thickness according to the inlet thickness output with delay; obtain the measured value of the outlet thickness by measuring, and determine the calculated thickness error according to the measured value of the outlet thickness and the calculated value of the outlet thickness; S2, filtering and calculating the support roller rotation frequency component of the thickness error and the support roller rotation frequency component of the thickness error to obtain the support roller eccentricity main body signal; S3, based on the support roller eccentricity main body signal, reconstructing the support roller eccentricity main body signal by recursive least square method; S4, performing phase shift on the reconstructed support roller eccentricity main body signal; S5. Determine the roller gap compensation value according to the main eccentricity signal of the supporting roller after the phase shift; S6. Control the roll gap according to the roll gap compensation value.

2. The eccentricity compensation method for the cold rolling mill support roller according to claim 1, characterized in that: Step S1 includes: S101, obtaining the entrance thickness through an entrance thickness gauge, and outputting the entrance thickness delay as a single-delay entrance thickness; S102, determining the inlet flow rate per second at the current moment according to the first delayed inlet thickness and the corrected inlet velocity at the previous moment; S103, delaying the inlet second flow rate and outputting it as delayed inlet second flow rate; S104, obtaining the inlet and outlet second flow rate difference according to the delayed inlet second flow rate and the measured outlet second flow rate; integrating the inlet and outlet second flow rate difference to obtain the inlet velocity correction factor; S105, outputting the first delayed entrance thickness as the second delayed entrance thickness; S106, determining a corrected inlet velocity according to the inlet velocity correction factor and the measured inlet velocity; S107, determining and calculating the thickness error according to the measured outlet thickness, the secondary delayed inlet thickness, the corrected inlet velocity, and the measured outlet velocity.

3. The eccentricity compensation method for the cold rolling mill support roller according to claim 1, characterized in that: Step S2 includes: S201, setting a blocking frequency of a first band-stop analog filter; S202, using a bilinear transformation method to transform the first band-stop analog filter into a first band-stop digital filter; S203, using a first band-stop digital filter to filter the frequency component of the support roller rotating by one time in the calculated thickness error; S204, setting the blocking frequency of the second band-stop analog filter; S205, using a bilinear transformation method to transform the second band-stop analog filter into a second band-stop digital filter; S206, using a second band-stop digital filter to filter the double frequency component of the support roller rotation in the calculated thickness error.

4. The eccentricity compensation method for the cold rolling mill support roller according to claim 1, characterized in that: Step S3 includes: S301, constructing an expression for an estimated value of the support roller eccentricity main body signal; S302, using a recursive least squares method to update the estimated value of the support roller eccentricity main body signal until the estimated error between the estimated value of the support roller eccentricity main body signal and the support roller eccentricity main body signal is less than a set value; S303, reconstructing the support roller eccentricity main body signal according to the support roller eccentricity main body signal estimation value.

5. The eccentricity compensation method for the cold rolling mill support roller according to claim 1, characterized in that: Step S4 includes: S401, determining the phase offset of the upper support roller according to the angular velocity of the upper support roller, the measured exit speed, and the distance from the roll gap of the rolling mill to the exit thickness gauge; S402, determining the phase offset of the lower support roller according to the angular velocity of the lower support roller, the measured exit speed, and the distance from the roll gap of the rolling mill to the exit thickness gauge; S403: Perform phase shift on the reconstructed supporting roller eccentric main body signal according to the phase shift amounts of the upper supporting roller and the lower supporting roller.

6. The eccentricity compensation method for the cold rolling mill support roller according to claim 1, characterized in that: Step S5 includes: S501, determining a preliminary roll gap compensation value according to the main eccentricity signal of the support roll after phase shift, the stiffness coefficient of the rolling mill frame, the plasticity coefficient of the strip steel, and the set adjustment coefficient; S502, limiting the amplitude of the preliminary roll gap compensation value within a set range to obtain a roll gap compensation value.

7. An eccentricity compensation device for a cold rolling mill support roller, characterized in that: include: A calculation thickness error determination module is used to delay the output of the measured inlet thickness and determine the outlet thickness calculation value according to the delayed output inlet thickness; and for determining a calculated thickness error based on a measured outlet thickness value and a calculated outlet thickness value; A filtering module is used to filter the support roller rotation frequency component and the support roller rotation frequency component in the calculated thickness error to obtain the support roller eccentricity main body signal; A support roller eccentricity main body signal reconstruction module is used to reconstruct the support roller eccentricity main body signal through a recursive least square method based on the support roller eccentricity main body signal; A phase shift module, used for performing phase shift on the reconstructed support roller eccentricity main body signal; A roll gap compensation value determination module is used to determine the roll gap compensation value according to the support roll eccentricity main body signal after phase shift; The roll gap control module is used to control the roll gap according to the roll gap compensation value.

8. The method according to claim 7, characterized in that: The thickness error calculation determination module includes a shift register, and the shift register is used to delay the output of the measured entrance thickness.

9. An eccentricity compensation system for a cold rolling mill support roller, characterized in that: include: The eccentricity compensation device for the support roller of the cold rolling mill as claimed in claim 7; The measuring component is used to obtain the inlet thickness and outlet thickness measurement values.

10. A cold rolling mill, characterized in that: An eccentricity compensation system for cold rolling mill support rolls according to claim 9 is provided.

Images