Control method and equipment for reducing slippage of tension roller and medium

Abstract

The invention discloses a control method for reducing slippage of a tension roller, and the control method comprises the steps: firstly constructing a digital twin initial control model, and then carrying out the continuous iterative optimization of the constructed digital twin initial control model through the real-time operation data of unit operation parameters, thereby improving the accuracy of the model. The stress condition between the tension roller and the strip steel can be analyzed in real time through the digital twinning final control model obtained through continuous iterative optimization, and the running state of the current unit can be judged more accurately. When the tension roller slips, the final control model can recalculate the load distribution ratio according to the current operation data of the unit and automatically send the calculation result to the unit, so that the operation stability of the unit is improved, and the surface scratch of strip steel caused by the slipping of the tension roller is reduced; and when the final control model cannot find proper control parameters to ensure that the unit stably operates according to the set operation speed and tension, an early warning is given out, so that a crew can conveniently process in time.

Description

Technical Field

[0001] The present application relates to the field of metallurgical automation control technology, and more specifically, to a control method, device and medium for reducing tension roller slippage. Background Art

[0002] After the unit has been in production for a period of time, the surface roughness of the tension roller (a device, also called S roller, is an important part of the tension system. The tension roller is wrapped with strip steel, and friction is generated at the wrap angle, so that the outlet tension and inlet tension change according to a certain rule, thereby changing the tension value) will decrease, and the friction provided by the tension roller will also decrease, and the probability of the tension roller slipping will increase. The slippage of the tension roller will cause scratches on the surface of the strip steel, thereby affecting the surface quality of the strip steel. At the same time, it will also cause fluctuations in the tension of the unit and affect the stable operation of the unit.

[0003] Currently, in the production process, the methods generally adopted to avoid the slipping of the tension roller include two aspects: on the one hand, increasing the friction force that the roller surface of the tension roller can provide; on the other hand, modifying the control method of the tension roller to reduce the slipping of the tension roller caused by unreasonable control methods or control parameters.

[0004] Regular grinding of the rollers can indeed increase the friction coefficient of the tension roller surface. However, this method requires the unit to be shut down. If the shutdown time is too long, the production efficiency of the unit will be reduced. The friction force that the tension roller surface can provide is different for different specifications of steel coils, different operating speeds and tension settings of the unit. As the tension roller is used for a longer time, the roller surface is worn and the friction force it can provide will also change.

[0005] The prior art also proposes a control method for reducing the impact of tension roller slippage. This control method uses a fixed step length approximation method to gradually adjust the tension setting value, roller torque, and unit running speed to achieve the purpose of reducing tension roller slippage. However, the tension setting value is an important process parameter, and the risk of adjusting the tension setting value of the unit is relatively high. A decrease in tension is likely to cause deviation, an increase in tension will cause belt breakage, and a decrease in the running speed of the unit will affect the production efficiency of the unit. Summary of the invention

[0006] In response to at least one defect or improvement need in the prior art, the present application provides a control method, device and medium for reducing the slippage of the tension roller, which are used to more accurately judge the current operating status of the unit to improve the stability of the unit operation, reduce the surface scratches of the strip caused by the slippage of the tension roller, and issue an early warning when it is impossible to find suitable control parameters to ensure that the unit operates stably at the set operating speed and tension to facilitate timely processing by the crew, thereby ultimately achieving more intelligent and refined tension roller operation control.

[0007] To achieve the above objectives, in a first aspect, the present application provides a control method for reducing the slippage of a tension roller, comprising:

[0008] Step 1: Obtain historical operating data of unit operating parameters, real-time operating data of unit operating parameters, and inherent parameter data of the unit;

[0009] Step 2: constructing a digital twin initial control model based on the historical operating data of the unit operating parameters and the inherent parameter data of the unit;

[0010] Step 3, using the real-time operating data of the unit operating parameters to iteratively optimize the digital twin initial control model until the difference between the theoretical value and the measured value of the tension roller outlet tension is less than a preset error, and outputting the iteratively optimized model as the digital twin final control model;

[0011] Step 4: Based on the final control model of the digital twin, a new load distribution ratio is obtained with the load distribution ratio of each roller in the tension roller group being within its respective limit range as the matching target; if the new load distribution ratio achieves the matching target, the new load distribution ratio is sent to the unit; otherwise, the next round of load distribution ratio acquisition is performed. If, after a preset number of acquisition rounds, all the load distribution ratio results obtained cannot meet the matching target, a warning message is sent to the unit.

[0012] Furthermore, the step 2 comprises:

[0013] Step 21, constructing a geometric model of the unit according to the layout diagram of the unit and geometric parameters of the tension roller;

[0014] Step 22: Based on the geometric model of the unit, according to the measured value of the tension roller inlet tension, the measured value of the tension roller outlet tension and the total output torque feedback value of the tension roller motor, a corresponding digital twin initial control basic model is established for each group of tension rollers. The equations of the corresponding basic model include:

[0015] F=F1+F 入口 ; F=F 出口 -F2;

[0016]

[0017]

[0018] F≤λF 入口 ; F 出口 ≤λ;λ=e μα ;

[0019] Among them, F 入口 Indicates the measured value of the tension roller entrance tension of the first tension roller; F出口 represents the measured value of the tension roller outlet tension of the second tension roller interacting with each other; F represents the tension between the first and second tension rollers; F1 represents the friction force applied by the first tension roller to the strip steel, and F2 represents the friction force applied by the second tension roller to the strip steel; M 总1 Indicates the total output torque feedback value of the tension roller motor of the first tension roller, M 总2 Indicates the total output torque feedback value of the tension roller motor of the second tension roller; M 工作1 It represents the torque exerted by the first tension roller motor on the strip through the first tension roller, M 工作2 It indicates the torque exerted by the second tension roller motor on the strip through the second tension roller; M 损1 Indicates the torque required for the first tension roller during constant speed and speed change, M 损2 It indicates the torque required for the second tension roller to maintain a constant speed and change speed; r1 indicates the radius of the first tension roller, and r2 indicates the radius of the second tension roller; λ indicates the tension magnification factor when the tension roller drives the strip and ensures that the strip does not slip; μ indicates the friction coefficient between the strip and the tension roller; α indicates the wrap angle between the strip and the tension roller;

[0020] Step 23: extract the operating data of the unit when it is in normal operation from the historical operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 and M 总2 Get the M of the tension roller of different specifications of strip steel at different running speeds 损1 and M 损2 ;

[0021] Step 24: extract the operating data when the tension roller slips from the historical operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 、M 总2 And M obtained in step 23 损1 and M 损2 The torque of the tension roller acting on the strip at this time is obtained, and the actual tension magnification factor of the tension roller surface under this working condition is further obtained, and based on it, the digital twin initial control basic model is corrected to obtain the digital twin initial control model.

[0022] Furthermore, the formula for the actual tension magnification factor includes: Among them, λ1 represents the correction coefficient of tension roller crown; λ2 represents the correction coefficient of unit running speed; λ 实 Indicates the actual tension magnification.

[0023] Furthermore, the step 3 comprises:

[0024] Step 31: extract the operating data of the unit when it is working normally from the real-time operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 and M 总2 Get the M of the tension roller of the current specification strip at the current running speed 损1 and M 损2 ;

[0025] Step 32: extract the operation data when the tension roller slips from the real-time operation data of the unit operation parameters, and 入口 、F 出口 、M 总1 、M 总2 And M obtained in step 31 损1 and M 损2 The torque of the tension roller acting on the strip steel at this time is obtained, and the actual tension magnification factor of the tension roller surface under this working condition is further obtained and the digital twin initial control model is corrected based on the torque;

[0026] Step 33: If the corrected model makes the difference smaller than the preset error, then the corrected model is output as the final control model of the digital twin; otherwise, repeat steps 31-33, continue iterative optimization, until the difference is smaller than the preset error, then the iteratively optimized model is output as the final control model of the digital twin.

[0027] Furthermore, the method for obtaining the theoretical value of the tension roller outlet tension includes:

[0028] Step 331: Based on the total output torque feedback value of the tension roller motor in the real-time operation data of the unit operation parameter and the torque of the tension roller at the current operating speed obtained in step 31, 损1 and M 损2 , obtain the friction force exerted by the tension roller on the strip;

[0029] Step 332: Obtain a theoretical value of the tension roller outlet tension through the measured value of the tension roller inlet tension and the friction force applied by the tension roller on the strip obtained in step 331.

[0030] Furthermore, the step 4 comprises:

[0031] Step 41, based on the digital twin final control model obtained in step 33 and the motor power, unit running speed, tension roller inlet tension measurement value and tension roller outlet tension measurement value obtained in step 1, obtain the upper limit and lower limit of the load distribution ratio of each roller in the tension roller group;

[0032] Step 42, compare the current load distribution ratio of the tension roller with the upper and lower limits of the load distribution ratio obtained in step 41; if the current load distribution ratio of each roller in the tension roller group is within its respective limit range, send the current load distribution ratio of this round to the unit; otherwise, re-obtain the load distribution ratio of each roller in a new round of the tension roller group and compare it with the upper and lower limits of the load distribution ratio obtained in step 41. If after a preset number of rounds, all the load distribution ratio results obtained cannot meet the ratio target, send a warning message to the unit.

[0033] Furthermore, the unit operating parameters include one or more of the tension roller inlet tension measurement value, the tension roller outlet tension measurement value, the tension setting value, the unit operating speed measurement value, the unit operating speed setting value, the tension roller motor total output torque feedback value, the tension roller motor total output torque setting value, the tension roller speed measurement value and the tension roller speed setting value.

[0034] Furthermore, the inherent parameter variables of the unit include one or more of the wrap angle between the strip steel and the tension roller, the friction coefficient between the strip steel and the tension roller, the radius of the tension roller, the crown of the tension roller and the motor power.

[0035] In a second aspect, the present application provides an electronic device comprising at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to perform the steps of any of the control methods described above.

[0036] In a third aspect, the present application provides a storage medium storing a computer program executable by an access authentication device, wherein when the computer program runs on the access authentication device, the access authentication device is enabled to perform the steps of any of the aforementioned control methods.

[0037] In general, the above technical solutions conceived by the present application can achieve the following beneficial effects compared with the prior art:

[0038] The present application discloses a control method for reducing the slippage of the tension roller. First, a digital twin initial control model is constructed through the historical operation data of the unit operation parameters, and then the constructed digital twin initial control model is continuously iterated and optimized through the real-time operation data of the unit operation parameters, thereby improving the accuracy of the model. The digital twin final control model obtained through continuous iterative optimization can analyze the force conditions between the tension roller and the strip in real time, so as to more accurately judge the current operation status of the unit. When the tension roller slips, the final control model can recalculate the load distribution ratio according to the current operation data of the unit, and automatically send the calculation results to the unit, thereby improving the stability of the unit operation and reducing the surface scratches of the strip caused by the slippage of the tension roller; when the final control model cannot find suitable control parameters to ensure that the unit runs stably according to the set operating speed and tension, an early warning is issued to facilitate the crew to deal with it in time, so as to finally achieve more intelligent and refined tension roller operation control. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A core flow chart of a control method for reducing tension roller slippage provided in an embodiment of the present application;

[0041] Figure 2 A block diagram of an electronic device provided in an embodiment of the present application that is suitable for implementing the control method described above. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0043] The terms "first", "second" or "nth" in the specification, claims or drawings of the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0044] As described in the background technology section of the specification, the friction coefficient of the tension roller surface can indeed be increased by regular grinding of the roller. However, this method requires the unit to be in a shutdown state before it can be carried out. If the shutdown time is long, the production efficiency of the unit will be reduced. However, the tension roller control method in the prior art adopts a strategy of adjusting the tension setting value of the unit, which is more risky. It uses a fixed step-length approximation method to gradually adjust the tension setting value, roller torque and unit running speed to achieve the purpose of reducing the slippage of the tension roller. However, the reduction of tension is easy to cause deviation, and the increase of tension will cause belt breakage, while reducing the running speed of the unit will affect the production efficiency of the unit. In view of this, the present application proposes a control method, device and medium for reducing the slippage of the tension roller, which is used to more accurately judge the current running state of the unit to improve the stability of the unit operation, reduce the scratches on the strip surface caused by the slippage of the tension roller, and issue an early warning when it is impossible to find suitable control parameters to ensure that the unit runs stably at the set running speed and tension to facilitate the crew to handle in time, thereby ultimately realizing more intelligent and refined tension roller operation control.

[0045] refer to Figure 1 An embodiment of the present application provides a control method for reducing the slippage of a tension roller. The control method mainly includes the following steps.

[0046] Step 1: Obtain historical operating data of unit operating parameters, real-time operating data of unit operating parameters, and inherent parameter data of the unit.

[0047] In some embodiments, more specifically, the unit operating parameters may include: tension roller inlet tension measurement value, tension roller outlet tension measurement value, tension setting value, unit operating speed measurement value, unit operating speed setting value, tension roller motor total output torque feedback value, tension roller motor total output torque setting value, tension roller speed measurement value and tension roller speed setting value, etc.

[0048] The inherent parameters of the unit may include: the wrap angle between the strip steel and the tension roller, the friction coefficient between the strip steel and the tension roller, the radius of the tension roller, the crown of the tension roller and the motor power, etc.

[0049] Step 2: construct the digital twin initial control model MODEL0 based on the historical operation data of the unit operation parameters and the inherent parameter data of the unit. In some embodiments, more specifically, the following sub-steps may be included.

[0050] Step 21: Establish a geometric model of the unit according to the unit layout diagram and the tension roller geometric parameters.

[0051] Step 22: Based on the geometric model of the unit, according to the measured value of the tension roller inlet, the measured value of the tension roller outlet and the total output torque feedback value of the tension roller motor, a corresponding physical model (i.e., the digital twin initial control basic model in the claims) is established for each group of tension rollers. The equations of the physical model include:

[0052] F=F1+F 入口 ;

[0053] F=F 出口 -F2;

[0054]

[0055] F≤λF 入口 ;

[0056] F 出口 ≤λF;

[0057] λ=e μα ;

[0058] Among them, F 入口 Indicates the measured value of the tension roller entrance of roller 1# (first tension roller); F 出口 It indicates the measured value of the tension roller outlet of the adjacent 2# roller (second tension roller); F indicates the tension between the 1# roller and the 2# roller; F n M represents the friction force applied by the nth tension roller to the strip, that is, F1 represents the friction force applied by the 1# roller to the strip, and F2 represents the friction force applied by the 2# roller to the strip; 总n Indicates the total output torque feedback value of the tension roller motor of the nth tension roller, that is, M 总1 Indicates the total output torque feedback value of the tension roller motor of roller 1#, M 总2 Indicates the total output torque feedback value of the tension roller motor of roller 2#; M 工作n It represents the torque applied by the nth tension roller motor to the strip through the nth tension roller, that is, M 工作1 It indicates the torque exerted by the 1# roller motor on the strip through the 1# roller, M 工作2 Indicates the torque exerted by the 2# roller motor on the strip through the 2# roller; M 损n It represents the torque required for the nth tension roller to maintain constant speed and change speed, that is, M 损1Indicates the torque required for the 1# roller during the uniform and variable speed process, M 损2 Indicates the torque required for the 2# roller during the uniform and variable speed process; r n It represents the radius of the nth tension roller, that is, r1 represents the radius of the 1# roller, and r2 represents the radius of the 2# roller; λ represents the tension magnification factor when the tension roller drives the strip and ensures that the strip does not slip; μ represents the friction coefficient between the strip and the tension roller; α represents the wrap angle between the strip and the tension roller.

[0059] Step 23: extract the operating data of the unit when it is working normally from the historical operating data of the unit operating parameters obtained in step 1. Specifically, according to the measured value of the tension roller entrance tension of the tension roller, the measured value of the tension roller exit tension and the total output torque feedback value of the tension roller motor, calculate the M of the tension roller at different operating speeds for each specification of strip steel. 损1 and M 损2 The point plotting method can be used for calibration to obtain the M of the tension roller at different running speeds for each specification of strip steel. 损1 Curve and M 损2 curve.

[0060] Step 24: extract the operating data when the tension roller slips from the historical operating data of the unit operating parameters obtained in step 1. According to the tension roller entrance tension measurement value, the tension roller exit tension measurement value, the tension roller motor total output torque feedback value and the M obtained in step 23 损1 and M 损2 , calculate the moment of force exerted by the tension roller on the strip at this time, and further calculate the actual tension magnification of the tension roller surface under this working condition. According to the calculation results, the tension magnification λ in the physical model is corrected. The specific correction method includes but is not limited to the correction of the influence of the tension roller crown and the running speed of the unit. The tension magnification calculation equation with the correction coefficient is introduced here:

[0061]

[0062] Among them, λ1 is the correction coefficient of tension roller crown (λ1≤1), λ2 is the correction coefficient of unit running speed (λ2≤1), 实 is the actual tension magnification after correction. The λ1 curve of each specification of strip steel under different tension roller crowns and the λ2 curve under different running speeds are obtained by calibration. After correction, the digital twin initial control model MODEL0 can be constructed.

[0063] Step 3: Use the real-time operation data of the unit operation parameters to iteratively optimize the digital twin initial control model MODEL0 obtained in step 24 until the difference between the theoretical value and the measured value of the tension roller outlet tension is less than the preset error, and output the iteratively optimized model as the digital twin final control model MODEL n In some embodiments, more specifically, the following sub-steps may be included.

[0064] Step 31: extract the operation data of the unit when it is working normally from the real-time operation data of the unit operation parameters obtained in step 1. Calculate the M of the tension roller at the current operating speed based on the measured value of the tension roller entrance tension of the tension roller, the measured value of the tension roller exit tension and the total output torque feedback value of the tension roller motor. 损1 and M 损2 . And the M of the current specification strip tension roller 损1 Curve and M 损2 Optimize the curve.

[0065] Step 32: extract the operating data when the tension roller slips from the real-time operating data of the unit operating parameters obtained in step 1. Similar to step 24, according to the tension roller entrance tension measurement value, the tension roller exit tension measurement value, the tension roller motor total output torque feedback value and the M obtained in step 31, 损1 and M 损2 Finally, the λ of the digital twin initial control model MODEL0 obtained in step 24 is 实 The correction is performed to obtain a corrected control model. After the correction, the process proceeds to step 33.

[0066] Step 33: according to the measured value of the tension roller entrance tension, the measured value of the tension roller exit tension, the total output torque feedback value of the tension roller motor in the real-time operation data of the unit operation parameters obtained in step 1, and the M obtained in step 31, 损1 and M 损2 , verifying the accuracy of the modified control model established in step 32. In some embodiments, more specifically, the following sub-steps may be included.

[0067] Step 331: The total output torque feedback value of the tension roller motor in the real-time operation data of the unit operation parameter and the M obtained in step 31 are used. 损1 and M 损2 , calculate the friction force applied by the tension roller on the strip.

[0068] Step 332, calculate the theoretical value of the tension roller outlet tension by adding the measured value of the tension roller inlet tension to the friction force of the tension roller on the strip obtained in step 331.

[0069] Step 333: Compare the theoretical value of the tension roller outlet tension obtained in step 332 with the measured value of the tension roller outlet tension. If the difference between the theoretical value and the measured value is within the preset error allowable range, it is considered that the accuracy of the revised control model established in step 32 meets the requirements, and the revised control model is output as the final control model MODEL of the digital twin. n If the accuracy of the modified control model does not meet the requirements, return to step 31, repeat steps 31-33, continue to iteratively optimize the model until the difference is less than the preset error, and output the iteratively optimized model as the final control model MODEL of the digital twin. n .

[0070] Step 4: The final control model MODEL of the digital twin obtained in step 3 n , taking the load distribution ratio of each roller in the tension roller group as the ratio target within the respective limit range, to obtain a new load distribution ratio; if the new load distribution ratio achieves the ratio target, the new load distribution ratio is sent to the unit; otherwise, the next round of load distribution ratio acquisition is performed; if after a set number of rounds, all the load distribution ratio results obtained cannot meet the ratio target, an early warning message is sent to the unit. In some embodiments, more specifically, the following sub-steps may be included.

[0071] Step 41: The final control model of the digital twin constructed in step 33 n As well as the motor power, unit running speed, tension roller inlet tension measurement value and tension roller outlet tension measurement value obtained in step 1, calculate the upper and lower limits of the load distribution ratio of each roller in the tension roller group.

[0072] Step 42, compare the current load distribution ratio of the tension roller with the upper and lower limits calculated in step 41. If the load distribution ratio of each roller in the tension roller group is within the respective limit range, no modification is made. If the load distribution ratio of at least one roller in the tension roller group exceeds the above limit, the load distribution ratio of each tension roller is recalculated.

[0073] Step 43: After recalculating the load distribution ratio, if the load distribution ratio of each roller is within its respective limit range, the calculation result meets the requirements and a new load distribution ratio is sent to the unit.

[0074] Step 44: If all calculation results cannot ensure that the load distribution ratio of each roller is within the respective limit range after the set number of rounds of calculation, an early warning message is issued to the unit. That is, under the current working conditions, it is impossible to quickly find suitable control parameters within the set number of rounds to ensure that the unit operates stably according to the set operating speed and tension. If it is necessary to ensure the stable operation of the unit, the set operating speed and tension need to be adjusted. This method reduces the frequency of operations such as adjusting the tension setting value of the unit, which is a risky operation, as much as possible.

[0075] The present application discloses a control method for reducing the slippage of the tension roller. First, a digital twin initial control model is constructed through the historical operation data of the unit operation parameters, and then the constructed digital twin initial control model is continuously iterated and optimized through the real-time operation data of the unit operation parameters, thereby improving the accuracy of the model. The digital twin final control model obtained through continuous iterative optimization can analyze the force conditions between the tension roller and the strip in real time, so as to more accurately judge the current operation status of the unit. When the tension roller slips, the final control model can recalculate the load distribution ratio according to the current operation data of the unit, and automatically send the calculation results to the unit, thereby improving the stability of the unit operation and reducing the surface scratches of the strip caused by the slippage of the tension roller; when the final control model cannot find suitable control parameters to ensure that the unit runs stably according to the set operating speed and tension, an early warning message is issued to facilitate the crew to deal with it in time, so as to finally achieve more intelligent and refined tension roller operation control.

[0076] Figure 2 A block diagram of an electronic device suitable for implementing the control method described above according to an embodiment of the present application is schematically shown. Figure 2 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0077] like Figure 2 As shown, the electronic device 1000 described in this embodiment includes: a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage part 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), and the like. The processor 1001 may also include an onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the control method flow according to an embodiment of the present application.

[0078] In RAM 1003, various programs and data required for the operation of system 1000 are stored. Processor 1001, ROM 1002 and RAM 1003 are connected to each other through bus 1004. Processor 1001 performs various operations of the control method flow according to the embodiment of the present application by executing the program in ROM 1002 and / or RAM 1003. It should be noted that the program can also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 can also perform various operations of the control method flow according to the embodiment of the present application by executing the program stored in the one or more memories.

[0079] According to an embodiment of the present application, the electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to the bus 1004. The system 1000 may further include one or more of the following components connected to the I / O interface 1005: an input part 1006 including a keyboard, a mouse, etc.; an output part 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 1008 including a hard disk, etc.; and a communication part 1009 including a network interface card such as a LAN card, a modem, etc. The communication part 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that the computer program read therefrom is installed into the storage part 1008 as needed.

[0080] The control method flow according to the embodiment of the present application can be implemented as a computer software program. For example, the embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the control method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above-mentioned functions defined in the system of the embodiment of the present application are executed. According to the embodiment of the present application, the system, equipment, device, module and / or unit described above can be implemented by a computer program module.

[0081] The embodiments of the present application also provide a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the steps of the control method according to the embodiments of the present application can be implemented.

[0082] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In an embodiment of the present application, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus, or a device. For example, according to an embodiment of the present application, the computer-readable storage medium may include one or more memories other than the ROM 1002 and / or RAM 1003 described above.

[0083] It should be noted that the functional modules in the various embodiments of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product.

[0084] The flowchart and / or block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flowchart and / or block diagram can represent a part of a module, program segment or code, and a part of the above-mentioned module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the technical features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways, and all of these combinations and / or combinations fall within the scope of the present application.

[0086] Although the present application has been shown and described with reference to specific exemplary embodiments of the present application, it should be understood by those skilled in the art that various changes in form and details may be made to the present application without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents. Therefore, the scope of the present application should not be limited to the above-mentioned embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A control method for reducing the slippage of a tension roller, characterized in that: include: Step 1, obtaining historical operating data of unit operating parameters, real-time operating data of unit operating parameters and inherent parameter data of the unit; Step 2: constructing a digital twin initial control model based on the historical operating data of the unit operating parameters and the inherent parameter data of the unit; Step 3, using the real-time operating data of the unit operating parameters to iteratively optimize the digital twin initial control model until the difference between the theoretical value and the measured value of the tension roller outlet tension is less than a preset error, and outputting the iteratively optimized model as the digital twin final control model; Step 4: Based on the final control model of the digital twin, a new load distribution ratio is obtained with the load distribution ratio of each roller in the tension roller group being within its respective limit range as the matching target; if the new load distribution ratio achieves the matching target, the new load distribution ratio is sent to the unit; otherwise, the next round of load distribution ratio acquisition is performed. If, after a preset number of acquisition rounds, all the load distribution ratio results obtained cannot meet the matching target, a warning message is sent to the unit.

2. The control method according to claim 1, characterized in that: The step 2 comprises: Step 21, constructing a geometric model of the unit according to the layout diagram of the unit and geometric parameters of the tension roller; Step 22: Based on the geometric model of the unit, according to the measured value of the tension roller inlet tension, the measured value of the tension roller outlet tension and the total output torque feedback value of the tension roller motor, a corresponding digital twin initial control basic model is established for each group of tension rollers. The equations of the corresponding basic model include: F=F1+F 入口 ;F=F 出口 -F2; F≤λF 入口 ;F 出口 ≤λ;λ=e μα ; Among them, F 入口 Indicates the measured value of the tension roller entrance tension of the first tension roller; F 出口 represents the measured value of the tension roller outlet tension of the second tension roller interacting with each other; F represents the tension between the first and second tension rollers; F1 represents the friction force applied by the first tension roller to the strip steel, and F2 represents the friction force applied by the second tension roller to the strip steel; M 总1 Indicates the total output torque feedback value of the tension roller motor of the first tension roller, M 总2 Indicates the total output torque feedback value of the tension roller motor of the second tension roller; M 工作1 It represents the torque exerted by the first tension roller motor on the strip through the first tension roller, M 工作2 It indicates the torque exerted by the second tension roller motor on the strip through the second tension roller; M 损1 Indicates the torque required for the first tension roller during constant speed and speed change, M 损2 It indicates the torque required for the second tension roller to maintain a constant speed and change speed; r1 indicates the radius of the first tension roller, and r2 indicates the radius of the second tension roller; λ indicates the tension magnification factor when the tension roller drives the strip and ensures that the strip does not slip; μ indicates the friction coefficient between the strip and the tension roller; α indicates the wrap angle between the strip and the tension roller; Step 23: extract the operating data of the unit when it is in normal operation from the historical operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 and M 总2 Get the M of the tension roller of different specifications of strip steel at different running speeds 损1 and M 损2 ; Step 24: extract the operating data when the tension roller slips from the historical operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 、M 总2 And M obtained in step 23 损1 and M 损2 The torque of the tension roller acting on the strip at this time is obtained, and the actual tension magnification factor of the tension roller surface under this working condition is further obtained, and based on it, the digital twin initial control basic model is corrected to obtain the digital twin initial control model.

3. The control method according to claim 2, characterized in that: The formula for the actual tension magnification factor includes: Among them, λ1 represents the correction coefficient of tension roller crown; λ2 represents the correction coefficient of unit running speed; λ 实 Indicates the actual tension magnification.

4. The control method according to any one of claims 1 to 3, characterized in that: The step 3 comprises: Step 31: extract the operating data of the unit when it is working normally from the real-time operating data of the unit operating parameters, and 入口 、F 出口 、M 总1 and M 总2 Get the M of the tension roller of the current specification strip at the current running speed 损1 and M 损2 ; Step 32: extract the operation data when the tension roller slips from the real-time operation data of the unit operation parameters, and 入口 、F 出口 、M 总1 、M 总2 And M obtained in step 31 损1 and M 损2 The torque of the tension roller acting on the strip steel at this time is obtained, and the actual tension magnification factor of the tension roller surface under this working condition is further obtained and the digital twin initial control model is corrected based on the torque; Step 33: If the corrected model makes the difference smaller than the preset error, then the corrected model is output as the final control model of the digital twin; otherwise, repeat steps 31-33, continue iterative optimization, until the difference is smaller than the preset error, then the iteratively optimized model is output as the final control model of the digital twin.

5. The control method according to claim 4, characterized in that: The method for obtaining the theoretical value of the tension roller outlet tension includes: Step 331: Based on the total output torque feedback value of the tension roller motor in the real-time operation data of the unit operation parameter and the torque of the tension roller at the current operating speed obtained in step 31, 损1 and M 损2 , obtain the friction force exerted by the tension roller on the strip; Step 332: Obtain a theoretical value of the tension roller outlet tension through the measured value of the tension roller inlet tension and the friction force applied by the tension roller on the steel strip obtained in step 331.

6. The control method according to claim 4, characterized in that: The step 4 comprises: Step 41, based on the digital twin final control model obtained in step 33 and the motor power, unit running speed, tension roller inlet tension measurement value and tension roller outlet tension measurement value obtained in step 1, obtain the upper limit and lower limit of the load distribution ratio of each roller in the tension roller group; Step 42, compare the current load distribution ratio of the tension roller with the upper and lower limits of the load distribution ratio obtained in step 41; if the current load distribution ratio of each roller in the tension roller group is within its respective limit range, send the current load distribution ratio of this round to the unit; otherwise, re-obtain the load distribution ratio of each roller in a new round of the tension roller group and compare it with the upper and lower limits of the load distribution ratio obtained in step 41. If after a preset number of rounds, all the load distribution ratio results obtained cannot meet the ratio target, send a warning message to the unit.

7. The control method according to any one of claims 1 to 3, 5 to 6, characterized in that: The unit operation parameters include one or more of the tension measurement value of the tension roller inlet, the tension measurement value of the tension roller outlet, the tension setting value, the unit operation speed measurement value, the unit operation speed setting value, the tension roller motor total output torque feedback value, the tension roller motor total output torque setting value, the tension roller speed measurement value and the tension roller speed setting value.

8. The control method according to any one of claims 1 to 3, 5 to 6, characterized in that: The inherent parameter variables of the unit include one or more of the wrap angle between the strip steel and the tension roller, the friction coefficient between the strip steel and the tension roller, the radius of the tension roller, the crown of the tension roller and the motor power.

9. An electronic device, characterized in that: The invention comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to execute the steps of the control method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: It stores a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device is enabled to execute the steps of the control method according to any one of claims 1 to 8.

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