Plate camber control method and system based on far-end transverse movement detection

Abstract

The embodiment of the invention provides a plate camber control method and system based on far-end transverse movement detection, and is applied to the technical field of rolled plate machining. According to the method, the far-end transverse movement amount of a plate rolled piece in the rolling process in a preset detection period can be firstly obtained; and calling the mechanism model, and calculating the roll gap inclination adjustment amount of the single side of the roll body according to the mechanism model and the far-end transverse movement amount. And generating an adjusting instruction based on the roll gap inclination adjusting quantity, and sending the adjusting instruction to a roll gap adjusting mechanism of the rolling machine. Wherein the mechanism model is generated on the basis of the far-end transverse movement amount in combination with the transverse movement force arm, the rolling width and the preset detection period of the plate rolled piece. According to the method, the roll gap inclination amount, needing to be adjusted, of the camber of the plate rolled piece at the outlet can be deduced by analyzing the relational expression between the speed difference of the two sides of the plate rolled piece outlet and the camber bending amount, the camber phenomenon of the plate rolled piece is controlled, and the problem that the precision value is not high due to the camber phenomenon of the plate rolled piece is solved.

Description

Technical Field

[0001] The present application relates to the technical field of plate processing, and in particular to a plate sickle bending control method and system based on remote lateral movement detection. Background Art

[0002] Rolled plates are metal plates produced by rolling process, which can be divided into thin plates, medium plates and thick plates according to the thickness of the plates. Among them, the thickness of thin plates ranges from 0.2mm to 4mm, with good machinability, easy to stamp, bend and other processing; the thickness of medium plates ranges from 4mm to 60mm, with high strength and toughness, can withstand large loads, and good processing performance; the thickness of thick plates ranges from 60mm to 115mm, with extremely high strength and rigidity, and can withstand great pressure and impact.

[0003] Take medium and thick plates as an example. Due to their excellent performance and quality, medium and thick plates are widely used in different fields such as the construction industry, container manufacturing, shipbuilding, machinery manufacturing and hot-rolled thin plate production. They are one of the important branches of steel products. During the production process of medium and thick plates, due to the uneven temperature distribution of the billet, the wedge shape of the billet, the difference in the rigidity of the rolling mill, and the different reduction amounts on both sides of the rolling mill, the steel plate will bend or arc after rolling, resulting in the sickle bend phenomenon of the medium and thick plates. The sickle bend phenomenon of medium and thick plates will lead to low utilization rate of steel billet raw materials and increase production costs. When the sickle bend is serious, the medium and thick plates will bend beyond the roller table, damage the rollers or other related equipment, and affect the normal production of the medium and thick plate plant.

[0004] Since the sickle camber phenomenon of medium and thick plates mainly occurs in the extended stage of medium and thick plate rolling, in order to alleviate the sickle camber phenomenon of medium and thick plates, sickle camber control can be performed in the extended stage of medium and thick plate rolling. For example, the operator gives appropriate roll gap tilt value compensation according to the bending amount of the steel plate sickle camber during rolling and combines production experience to reduce the bending amount of the sickle camber. However, this method of adjusting sickle camber is extremely dependent on the accumulated experience of the operator, and the lag of manual operation is relatively large, resulting in low accuracy and poor control effect. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a plate sickle bend control method and system based on remote lateral movement detection to solve the problem of low accuracy value caused by the plate sickle bend phenomenon.

[0006] According to one aspect of the present application, a plate sickle bending control method based on remote lateral movement detection is provided, the method comprising: Obtaining the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period; Calling a mechanism model, the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roll body and the distal end lateral displacement; the mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width and the preset detection cycle; Calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; An adjustment instruction is generated based on the roll gap inclination adjustment amount, and the adjustment instruction is sent to a roll gap adjustment mechanism of the rolling mill.

[0007] In some embodiments, the method further comprises: Setting speed variables on both sides, wherein the speed variables on both sides include a first side speed and a second side speed of the plate rolled piece at a rolling discharge position; Calculating a speed difference between two sides according to the speed variables on both sides, wherein the speed difference between two sides is equal to a difference between the first side speed and the second side speed; Obtain the rolling width and theoretical discharge length within the preset detection cycle; Calculating the lateral force arm according to the rolling width and the theoretical discharge length; The mechanism model is generated based on the distal end lateral displacement, in combination with the lateral displacement force arm, the rolling width and the preset detection period.

[0008] In some embodiments, the mechanism model is generated based on the distal end lateral displacement, in combination with the lateral displacement force arm, the rolling width and the preset detection period, including: Constructing a distal speed variable and a rotation angle variable, wherein the distal speed variable is used to characterize the linear speed of the distal midpoint of the plate rolled piece; and the rotation angle variable is used to characterize the deflection angle of the distal midpoint of the plate rolled piece under the sickle bending phenomenon; Based on the principle that the angular velocity of each position on the plate rolled piece is the same, determining a first functional relationship between the distal velocity variable and the velocity difference between the two sides; Acquire a second functional relationship between the rotation angle variable and the distal end lateral displacement; The first functional relationship and the second functional relationship are combined based on the speed difference on both sides to generate the mechanism model.

[0009] In some embodiments, the first functional relationship and the second functional relationship are combined based on the speed difference between the two sides to generate the mechanism model, including: Constructing thickness variables, the thickness variables comprising a first thickness variable and a second thickness variable, the first thickness variable being used to characterize the thickness of the plate rolled piece on the first side, and the second thickness variable being used to characterize the thickness of the plate rolled piece on the second side; Based on the principle of constant rolling volume, a third functional relationship between the thickness variable and the speed variables on both sides is established; Determining a fourth functional relationship between the first thickness variable and the second thickness variable according to the third functional relationship, wherein the fourth functional relationship includes a thickness coefficient, and the thickness coefficient is 1 plus a ratio of the velocity difference between the two sides to the first side velocity; The fourth functional relationship is substituted into the thickness inclination adjustment relationship to generate the mechanism model, wherein the thickness inclination relationship is determined according to the thickness difference, the rolling mill width and the rolled piece width; the thickness difference is equal to the difference between the first thickness variable and the second thickness variable.

[0010] In some embodiments, the fourth functional relationship is brought into the thickness tilt adjustment relationship to generate the mechanism model, including: Get the mill width; Calculating a tilt coefficient based on the rolling mill width and the workpiece width, wherein the tilt coefficient is 1 / 2 of the ratio of the rolling mill width to the workpiece width; constructing a thickness difference variable, wherein the thickness difference variable is used to characterize the difference between the first thickness variable and the second thickness variable; A fifth functional relationship between the roller body single-side thickness inclination adjustment amount and the thickness difference variable is constructed based on the inclination coefficient.

[0011] In some embodiments, the method further comprises: Obtain the plasticity coefficient of rolled product and the stiffness of rolling mill; Calculating a deformation coefficient according to the plastic coefficient of the rolled piece and the rigidity of the rolling mill, wherein the deformation coefficient is 1 plus the ratio of the plastic coefficient of the rolled piece to the rigidity of the rolling mill; The deformation coefficient is added to the fifth functional relationship to generate the mechanism model.

[0012] In some embodiments, the method further comprises: Acquire the specification parameters and rolling process parameters of the rolling mill, wherein the specification parameters include the radius of the rolling mill roll; the rolling process parameters include the thickness of the plate rolled piece before rolling and the thickness after rolling; Creating rolling angle variables, wherein the rolling angle variables include a bite angle and a neutral angle; According to the geometrical characteristics of the rolling deformation zone, expressions for the bite angle and the neutral angle are established.

[0013] In some embodiments, generating an adjustment instruction based on the roll gap tilt adjustment amount includes: Acquire current operating parameters of the roll gap adjustment mechanism, wherein the roll gap adjustment mechanism comprises a first adjustment component and a second adjustment component, wherein the first adjustment component is used to adjust the roll gap width on the first side; and the second adjustment component is used to adjust the roll gap width on the second side; Calculating an actual adjustment distance according to the current operating parameters and the roll gap tilt adjustment amount, the actual adjustment distance comprising a first distance and a second distance; the first distance is used to characterize the adjustment amount of the first side roll gap width; the second distance is used to characterize the adjustment amount of the second side roll gap width; The actual adjustment distance is encapsulated into the adjustment instruction.

[0014] In some embodiments, the method further comprises: Get detection bias; The detection deviation is sent to an integral controller, and the integral controller is used to assist in performing sickle correction adjustment on the plate rolled piece; the setting value of the integral controller is that the far-end lateral displacement within a preset detection cycle is equal to 0; and the feedback value of the integral controller is the far-end lateral displacement; Setting the integral time of the integral controller; The roll gap tilt adjustment amount is corrected according to the output signal of the integral controller.

[0015] According to another aspect of the present application, a plate sickle bending control system based on remote lateral movement detection is provided, the system comprising a rolling mill and a data processing device, the rolling mill comprising a roll gap adjustment mechanism; the roll gap adjustment mechanism is connected to the data processing device, and the data processing device comprises: An acquisition module is used to acquire the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period; A model calling module is used to call a mechanism model, wherein the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roll body and the distal end lateral displacement; the mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width and the preset detection cycle; A calculation module, used for calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; The instruction generation module is used to generate an adjustment instruction based on the roll gap inclination adjustment amount, and send the adjustment instruction to the roll gap adjustment mechanism of the rolling mill.

[0016] According to another aspect of the present application, a computer device is provided, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein when the processor executes the program, the above-mentioned plate sickle bending control method based on remote lateral movement detection is implemented.

[0017] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned plate sickle bending control method based on remote lateral displacement detection is implemented.

[0018] By means of the above technical scheme, the embodiment of the present application provides a plate sickle bend control method and system based on remote transverse displacement detection, wherein the method can first obtain the remote transverse displacement of the plate rolled piece during the rolling process within a preset detection period. Then the mechanism model is called, and the roll gap tilt adjustment amount on one side of the roller body is calculated according to the mechanism model and the remote transverse displacement. Thus, an adjustment instruction is generated based on the roll gap tilt adjustment amount, and the adjustment instruction is sent to the roll gap adjustment mechanism of the rolling mill. Among them, the mechanism model is generated based on the remote transverse displacement, combined with the transverse displacement force arm, rolling width and preset detection period of the plate rolled piece. The method can deduce the roll gap tilt amount that needs to be adjusted for the sickle bend of the plate rolled piece at the outlet by analyzing the relationship between the speed difference on both sides of the plate rolled piece outlet and the sickle bend amount, thereby realizing the control of the sickle bend phenomenon of the plate rolled piece, so as to solve the problem of low accuracy value caused by the sickle bend phenomenon of the plate rolled piece.

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the rolling mill structure provided in the embodiment of the present application; Figure 2 A schematic flow chart of a plate sickle bending control method based on remote lateral movement detection provided in an embodiment of the present application; Figure 3 A schematic diagram of the distal end surface provided in an embodiment of the present application; Figure 4 A schematic diagram of the speed on both sides provided in the embodiment of the present application; Figure 5 A schematic diagram of a lateral lever arm provided in an embodiment of the present application; Figure 6 A schematic diagram of the deformation zone of a rolled piece provided in an embodiment of the present application; Figure 7 A schematic diagram of the tilting process of the rollers provided in the embodiment of the present application; Figure 8 A schematic diagram of a process flow for correcting the roll gap tilt adjustment amount provided in an embodiment of the present application; Fig. 9 A schematic diagram of a sickle correction control process provided in an embodiment of the present application; Fig.10 A schematic diagram of the structure of a plate sickle bending control system based on remote lateral movement detection provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0022] In the embodiment of the present application, the rolling process is a metal processing process in which a metal blank is subjected to pressure between rotating rollers through a rolling machine to cause plastic deformation of the metal blank, thereby changing the shape, size and properties of the metal blank.

[0023] The rolling process can be divided into hot rolling process and cold rolling process according to the temperature of the metal billet during processing. Among them, the hot rolling process refers to rolling above the recrystallization temperature of the metal. Taking steel as an example, the hot rolling temperature range of steel is 900℃~1200℃. The hot rolling process can destroy the casting structure of the metal, refine the grains, eliminate microstructure defects, and improve the mechanical properties of the metal. At the same time, the rolling force is small and the production efficiency is high. Therefore, the hot rolling process can be used to produce thick plates, steel sections, pipes and other rolled products. The cold rolling process refers to rolling below the recrystallization temperature of the metal (such as room temperature). The hot rolling process can obtain thinner plates with high dimensional accuracy, good surface quality and excellent mechanical properties. The hot rolling process can be used to produce thin plates, strips, precision pipes and other rolled products.

[0024] Rolling processes can also be classified by rolled products, which can include plate rolling, profile rolling, tube rolling, wire rolling, etc. Among them, plate rolling is used to produce plates of various thicknesses and widths, such as hot-rolled plates, cold-rolled plates, etc. Profile rolling is used to produce profiles of various shapes, such as angle steel, channel steel, I-beam, etc. Tube rolling is used to produce tubes of various diameters and wall thicknesses, such as seamless steel pipes, welded steel pipes, etc. Wire rolling is used to produce wires of various diameters, such as rebars, steel wires, etc.

[0025] The equipment that applies pressure to the metal billet during the rolling process is called a rolling mill. Figure 1 As shown, the rolling mill may include a frame, a roll, a roll gap adjustment mechanism, etc. Among them, the roll is a component for realizing plastic deformation of metal, and the pressure roll may include an upper roll and a lower roll, which are arranged in parallel, and the metal billet passes through the gap between the upper roll and the lower roll to undergo plastic deformation. The roll may include ductile iron infinitely chilled rolls, cast steel rolls, alloy rolls, etc. Rollers of different materials are suitable for different working sections.

[0026] The frame can include two square arches for mounting the roller bearing seats and the roller gap adjustment mechanism to support the rollers. The frame must have sufficient strength and rigidity to withstand the rolling force. The frame can be in the form of a closed frame and an open frame. The closed frame has good integrity, high strength and rigidity, and is suitable for primary rolling mills and plate and strip rolling mills with large rolling forces; the open frame is easy to change rolls and is mostly used in horizontal profile rolling mills.

[0027] The roll gap adjustment mechanism can be used to adjust the roll gap of the rolling mill so that the rolled product reaches the required cross-sectional size. Since the lower roll of the rolling mill needs to bear the weight of the billet, the roll gap adjustment mechanism can adjust the height of the upper roll, that is, the roll gap adjustment mechanism can include an upper roll adjustment mechanism (also called a press-down device). The upper roll adjustment mechanism can adjust the roll gap of the rolling mill by manual, electric and hydraulic transmission. Among them, the hydraulically driven upper roll adjustment mechanism has the advantages of small plate thickness deviation and high product qualification rate, and can be applied to new strip hot and cold rolling mills and thick plate rolling mills.

[0028] In some embodiments, the roll gap adjustment mechanism may include a first adjustment component and a second adjustment component, wherein the first adjustment component is used to adjust the height of one side of the roll, and the second adjustment component is used to adjust the height of the other side of the roll, thereby adjusting the width of the roll gap or the tilt state of the roll.

[0029] For example, the first adjustment component is located on the left side of the pressure roller, and the second adjustment component is located on the right side of the pressure roller. When the width of the roller gap between the upper roller and the lower roller needs to be increased, an adjustment instruction for controlling the roller to rise can be sent to the first adjustment component and the second adjustment component at the same time. When the roller needs to be leveled, the roller gap on the left side of the pressure roller can be reduced and the roller gap on the right side of the pressure roller can be increased according to the tilt state of the upper pressure roller. Therefore, a descending adjustment instruction can be sent to the first adjustment component, and an ascending adjustment instruction can be sent to the second adjustment component to achieve the effect of leveling the upper roller.

[0030] Metal sheets produced by rolling process are called rolled sheets. Rolled sheets can be divided into thin plates, medium plates and thick plates according to the thickness of the plates. Among them, the thickness of thin plates ranges from 0.2mm to 4mm, with good machinability, easy to process such as stamping and bending; the thickness of medium plates ranges from 4mm to 60mm, with high strength and toughness, able to withstand large loads, and good processing performance; the thickness of thick plates ranges from 60mm to 115mm, with extremely high strength and rigidity, able to withstand great pressure and impact.

[0031] Take medium and thick plates as an example. Due to their excellent performance and quality, medium and thick plates are widely used in different fields such as the construction industry, container manufacturing, shipbuilding, machinery manufacturing and hot-rolled thin plate production. They are one of the important branches of steel products. During the production process of medium and thick plates, due to the uneven temperature distribution of the billet, the wedge shape of the billet, the difference in the rigidity of the rolling mill, and the different reduction amounts on both sides of the rolling mill, the steel plate will bend or arc after rolling, resulting in the sickle bend phenomenon of the medium and thick plates. The sickle bend phenomenon of medium and thick plates will lead to low utilization rate of steel billet raw materials and increase production costs. When the sickle bend is severe, the medium and thick plates will bend beyond the roller table, damage the rollers or other related equipment, and affect the normal production of the medium and thick plate plant.

[0032] Since the sickle camber phenomenon of medium and thick plates mainly occurs in the extended stage of medium and thick plate rolling, in order to alleviate the sickle camber phenomenon of medium and thick plates, in some embodiments, sickle camber control can be performed in the extended stage of medium and thick plate rolling. For example, according to the bending amount of the steel plate sickle camber during the rolling process, combined with production experience, an appropriate roll gap tilt value is given for compensation to reduce the bending amount of the sickle camber. However, this control method for adjusting the sickle camber relies on operating experience, and the lag of manual operation is relatively large, resulting in low accuracy and poor control effect.

[0033] During the rolling process of plate rolled pieces, due to the combined influence of various factors on site, sickle bend defects of different situations will occur. Combined with the multi-pass reversible rolling process of plate rolled pieces, the cause of the sickle bend phenomenon of plate rolled pieces is more complicated. Therefore, in order to solve the problem of low precision value caused by the sickle bend phenomenon of plate rolled pieces during the rolling process, some embodiments of the present application provide a plate sickle bend control method based on remote transverse shift detection. The method can deduce the amount of roller gap inclination that needs to be adjusted for the sickle bend of the exit rolled piece by analyzing the relationship between the speed difference on both sides of the rolled piece exit and the sickle bend amount, control the sickle bend phenomenon of the plate rolled piece, and automatically correct and adjust the sickle bend phenomenon to improve the product quality and yield rate of the plate rolled piece, and improve the problem of poor sickle bend control effect of the plate rolled piece.

[0034] The method can be applied to a plate sickle bending control system based on remote lateral movement detection, wherein the system comprises a rolling mill and a data processing device, wherein the rolling mill comprises a roll gap adjustment mechanism, and the roll gap adjustment mechanism is connected to the data processing device.

[0035] Data processing equipment refers to electronic equipment with data processing functions, and data processing equipment may include but is not limited to computers, mobile terminals, servers, smart wearable devices, industrial control hosts, etc. In some embodiments of the present application, the plate sickle control method based on remote lateral movement detection is described by taking data processing equipment as an example. It should be understood that the method can also be applied to other types of electronic equipment, which will not be shown one by one in the embodiments of the present application.

[0036] The data processing device executes the program steps corresponding to the plate sickle bending control method based on remote lateral movement detection. Figure 2 As shown, the method includes: S101, obtaining the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period.

[0037] In order to control the sickle bending of the plate based on the detection of the far-end lateral displacement, the data processing device can first obtain the far-end lateral displacement. The far end refers to one side of the end face of the plate rolled piece after rolling. The far-end lateral displacement can characterize the severity of the sickle bending phenomenon of the plate rolled piece after rolling. Since the plate rolled piece has a certain width, the far-end lateral displacement can be the distance between the midpoint of the far-end end face of the plate rolled piece and the midpoint of the far-end end face of the ideal plate rolled piece.

[0038] For example, Figure 3 As shown in the figure, the metal billet moves from left to right and is formed into a plate rolled piece after passing through the rollers. The actual midpoint of the far end face of the plate rolled piece is P 1. The midpoint of the far end face of the ideal plate rolled piece is P 0, while P 1 and P The distance between 0 is the far end lateral displacement L t .

[0039] The far-end lateral displacement can be obtained by image processing, that is, the rolling process of the plate rolling piece can be imaged by an image acquisition sensor, and the plate rolling piece target can be identified in the acquired image, and then the far-end end face midpoint coordinates of the plate rolling piece target are marked, and the far-end end face midpoint coordinates of the ideal plate rolling piece are located according to the conveying direction of the rolling mill conveyor line. Then the distance (number of pixels) between the far-end end face midpoint coordinates of the plate rolling piece target and the far-end end face midpoint coordinates of the ideal plate rolling piece is calculated, and the far-end lateral displacement is calculated in combination with the image shooting parameters of the image acquisition sensor (such as focal length, resolution, etc.).

[0040] The far-end lateral displacement can also be obtained through position sensor detection. For example, the position sensor can be a sensor device such as a laser radar or an infrared grating. When obtaining the far-end lateral displacement, the plate rolling piece can be reproduced in two dimensions through the position sensor to obtain point cloud data. Then, shape recognition is performed from the point cloud data, and the coordinates of the far-end midpoint of the plate rolling piece target and the coordinates of the far-end midpoint of the ideal plate rolling piece are determined, thereby calculating the far-end lateral displacement.

[0041] S102, calling the mechanism model.

[0042] After obtaining the distal end lateral displacement, the data processing device may also call a mechanism model, wherein the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roller body and the distal end lateral displacement. The mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width, and the preset detection cycle.

[0043] The data processing device can deduce the relationship between the speed difference and the lateral displacement of the steel plate on both sides according to the speed of the steel plate on both sides at the exit side of the rolling mill and the sickle bending lateral displacement, and then construct a mechanism model based on the relationship between the speed difference and the lateral displacement. Therefore, in order to obtain the mechanism model, in some embodiments, the data processing device can first set the speed variables on both sides, wherein the speed variables on both sides include the first side speed and the second side speed of the plate rolled piece at the rolling discharge position.

[0044] For example, in the rolling process, it is assumed that the working rolls of the rolling mill are rigid rolls, and only the lateral movement of the medium and thick plate rolled pieces is considered, and it is assumed that the speeds on both sides of the rolled pieces are different, such as Figure 4 , Figure 5 As shown, the speeds on both sides of the rolled piece are respectively the first side speed V 1st and 2nd side speed V 2, where the second side speed V 2Compared to the first side speed V 1 The speed is fast, and the sickle bend phenomenon occurs, so it can be V 2 is decomposed into two speeds, namely V 1+Δ V .

[0045] After setting the speed variables on both sides, the data processing device calculates the speed difference on both sides according to the speed variables on both sides, that is, the speed difference on both sides is equal to the difference between the first side speed and the second side speed. V The first side speed V 1st and 2nd side speed V The difference of 2, Δ V = V 2- V 1.

[0046] Then, the rolling width and the theoretical discharge length within the preset detection period are obtained, and the lateral force arm is calculated according to the rolling width and the theoretical discharge length. W , the theoretical discharge length is L , then the lateral force arm is calculated based on the rolling width and theoretical discharge length ,Right now: (Formula 1); in, represents the lateral lever arm; WIndicates the rolling width; L is the theoretical discharge length.

[0047] After calculating the lateral force arm, the data processing device can generate the mechanism model based on the distal lateral displacement, the lateral force arm, the rolling width and the preset detection period. In some embodiments, in order to generate the mechanism model, the data processing device can first construct a distal speed variable and a rotation angle variable. The distal speed variable is used to characterize the linear speed of the distal midpoint of the plate rolled piece; the rotation angle variable is used to characterize the deflection angle of the distal midpoint of the plate rolled piece under the sickle bending phenomenon.

[0048] Based on the principle that the angular velocity of each position on the plate rolling piece is the same, the first functional relationship between the distal velocity variable and the velocity difference between the two sides is determined. For example, the plate rolling piece as a whole can be regarded as a rigid body, and the plate rolling piece is along O The point rotates, and the width of the rolled piece is W , then the angular velocity of each position on the rolled piece is the same, and we get: (Formula 2); in, V 1 is the first side speed; V 2 is the speed of the second side; W is the width of the rolled piece; V t is the distal velocity variable; is the lateral lever arm; L is the theoretical discharge length. After transforming the above formula, we can get the far-end velocity variable V t The speed difference between the two sides ( V 2- V 1) is the first functional relationship between the speed of the rolling head (the distal speed variable V t ) can be expressed as: (Formula 3); in, V t is the distal velocity variable; V 1 is the first side speed; V 2 is the speed of the second side; W is the width of the rolled piece; L The data processing device then obtains the second functional relationship between the rotation angle variable and the distal end lateral displacement. Thus, the first functional relationship and the second functional relationship are combined based on the speed difference on both sides to generate the mechanism model.

[0049] For example, the rotation angle (rotation angle variable) of the rolled piece undergoing rigid body rotation is θ, according to the preset detection period Δ t The lateral displacement of the far end of the plate rolling piece L t (lateral displacement on the right), the following relationship can be obtained: (Formula 4); in, θ is the rotation angle; L t is the lateral displacement of the far end of the plate rolled piece; is the lateral force arm. The second functional relationship between the rotation angle and the distal lateral displacement can be obtained by transforming the above formula, that is, the rotation angle of the plate rolled piece θ It can be expressed as: (Formula 5); in, θ is the rotation angle; L t is the lateral displacement of the far end of the plate rolled piece; is the lateral force arm. According to the relationship between the angular velocity ω, the unit time (preset detection cycle) Δt and the rotation angle, The relationship between the angular velocity, the distal velocity variable, and the lateral force arm , the speed of the rolling head can be calculated as: (Formula 6); in, V t is the distal velocity variable; θ is the rotation angle; L t is the lateral displacement of the far end of the plate rolled piece; is the lateral force arm; Δ t is the unit time (preset detection cycle). Combined with the above related formulas, the speed difference on both sides of the plate rolling piece, that is, the left and right speed difference is: (Formula 7); Among them, Δ V is the speed difference between the two sides; V 1 is the first side speed; V 2 is the speed of the second side; L t is the lateral displacement of the far end of the plate rolled piece; W is the width of the rolled piece; is the lateral force arm; Δ t It is the unit time (preset detection cycle).

[0050] The data processing device then combines the first functional relationship and the second functional relationship based on the speed difference on both sides to generate the mechanism model. In some embodiments, the data processing device can first construct a thickness variable. The thickness variable includes a first thickness variable and a second thickness variable, the first thickness variable is used to characterize the thickness of the plate rolled piece on the first side, and the second thickness variable is used to characterize the thickness of the plate rolled piece on the second side.

[0051] After the thickness variable is constructed, the data processing device can establish a third functional relationship between the thickness variable and the speed variables on both sides based on the principle of constant rolling volume. For example, assuming that the width of the rolled piece remains unchanged during the rolling process, that is, the metal does not flow horizontally, let V 2 speed becomes V 1, that is, controlling the rollers to make the speeds on both sides the same, can reduce the new sickle bends generated in the subsequent rolling process. Therefore, according to the principle of constant volume, it can be known that: (Formula 8); In the formula, is the edge thickness of the rolled piece on the first side; h is the edge thickness of the rolled piece on the second side; V 1 is the first side speed; V 2 is the second side speed.

[0052] The third functional relationship between the thickness variable and the velocity variables on both sides can be established from the above formula, namely: (Formula 9); in, is the edge thickness of the rolled piece on the first side; h is the edge thickness of the rolled piece on the second side; V 2 is the speed of the second side; V 1 is the first side speed; Δ V is the speed difference between the two sides.

[0053] Due to the actual second side rolled piece edge thickness h With the first side speed V 1 It is impossible to obtain precise thickness in engineering, so the average thickness can be used instead of the edge thickness of the second side rolled piece. h , similarly the speed of the first side V 1 can also be replaced by the average forward sliding speed, where the average forward sliding speed is calculated based on the working roll speed.

[0054] In some embodiments, the data processing device can also obtain the specification parameters and rolling process parameters of the rolling mill, wherein the specification parameters include the radius of the rolling mill roll; the rolling process parameters include the thickness before rolling and the thickness after rolling of the plate rolled piece; and then create rolling angle variables, wherein the rolling angle variables include the bite angle and the neutral angle. And according to the geometric shape characteristics of the rolling deformation zone, establish expressions for the bite angle and the neutral angle.

[0055] For example, the deformation zone of the rolled piece Figure 6 As shown, the radius of the rolling work roll is R , the bite angle is α , the neutral angle is γ , the thickness of the rolled piece at the entrance is H , the export thickness uses the second side rolled piece edge thickness h Calculate the bite angle according to the geometric characteristics of the rolling deformation zone α It can be expressed as: (Formula 10); Among them, Δ h is the difference between the entry thickness and the exit thickness of the rolled piece, i.e. Δ h = H - h Neutral Angle γ It can be calculated according to the neutral angle formula of S. Ekelund, namely: (Formula 11); In the formula, γ is the neutral angle; α is the bite angle; μ s is the friction coefficient. The parameter neutral angle can be used to calculate the forward slip value using the forward slip formula, and then calculate the average speed, replacing part of the first side speed in the above formula. For example, when obtaining the speed difference on both sides of the rolled piece, the linear speed of the rolling mill working roll can be read and the forward slip formula can be used to calculate the rolled piece speed.

[0056] The calculation formula of the forward slip value is: (Formula 12); In the formula, S h is the forward slip value; D is the diameter of the rolling work roll; γ is the neutral angle; h is the edge thickness of the second side rolled piece. Then the linear speed of the working roll is v The first side speed (average forward sliding speed) can be calculated by the following forward sliding formula: V 1: (Formula 13); In the formula, V 1 is the first side speed; v is the linear speed of the working roll; S h is the forward slip value.

[0057] The mechanism model can be generated by bringing the fourth functional relationship into the thickness tilt adjustment relationship, wherein the thickness tilt relationship can be determined according to the thickness difference, the rolling mill width, and the rolled piece width; the thickness difference is equal to the difference between the first thickness variable and the second thickness variable.

[0058] In order to bring the fourth functional relationship into the thickness adjustment tilt relationship to generate the mechanism model, the data processing device may first obtain the mill width, and then calculate the tilt coefficient based on the mill width and the workpiece width. The tilt coefficient is 1 / 2 of the ratio of the mill width to the workpiece width.

[0059] Then, a thickness difference variable is constructed, and the thickness difference variable is used to characterize the difference between the first thickness variable and the second thickness variable, and a fifth functional relationship between the roll body single-side thickness tilt adjustment amount and the thickness difference variable is constructed based on the tilt coefficient. Figure 7 As shown in the figure, based on the inclination coefficient, the fifth functional relationship between the thickness inclination adjustment amount on one side of the roller body and the thickness difference variable is constructed, that is, the thickness inclination amount on one side of the roller body needs to be adjusted l 1 is: (Formula 14); in, l 1: The thickness tilt amount needs to be adjusted on one side of the roller; W is the width of the rolled piece; is the edge thickness of the rolled piece on the first side; h is the edge thickness of the rolled piece on the second side; L r It is the horizontal distance between the left and right sides of the rolling mill, i.e. the width of the rolling mill; is the thickness difference between the two sides of the rolled piece; is the thickness inclination of one side.

[0060] Then obtain the plasticity coefficient of the rolled product Q and mill stiffness K , and calculating the deformation coefficient according to the plastic coefficient of the rolled piece and the stiffness of the rolling mill. Wherein, the deformation coefficient is 1 plus the ratio of the plastic coefficient of the rolled piece to the stiffness of the rolling mill. And by adding the deformation coefficient to the fifth functional relationship, the mechanism model is generated.

[0061] That is, the roll gap tilt adjustment amount on one side of the roll body L 1 is: (Formula 15); in, L 1 is the roll gap tilt adjustment amount on one side of the roll body; is the edge thickness of the rolled piece on the first side; h is the edge thickness of the rolled piece on the second side; L r is the horizontal distance between the left and right sides of the rolling mill; W is the width of the rolled piece; L r is the horizontal distance between the left and right sides of the rolling mill; Q is the plasticity coefficient of the rolled piece; K is the rolling mill stiffness.

[0062] It can be seen that, through the method shown in the above embodiment, the data processing device can deduce the relationship between the speed difference on both sides of the steel plate and the distal lateral displacement according to the speed of both sides of the steel plate at the exit side of the rolling mill and the distal lateral displacement of the sickle bend. That is, the above formula 7. The data processing device can also use the principle that the volume of the rolled product in the deformation zone remains unchanged to deduce the relationship between the roll gap inclination amount that needs to be adjusted on one side of the roll and the distal lateral displacement, that is, by substituting the above formula 7 into formula 9, and then substituting the obtained third function relationship into the above formula 15, the relationship between the roll gap inclination amount and the distal lateral displacement can be obtained.

[0063] S103, calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; After calling the mechanism model, the data processing device can calculate the roll gap tilt adjustment amount on one side of the roll body based on the far-end lateral displacement and the mechanism model (the functional relationship between the roll gap tilt and the far-end lateral displacement). The mechanism model can directly build in the functional relationship between the roll gap tilt and the far-end lateral displacement, so that after the data processing device obtains the far-end lateral displacement, the far-end lateral displacement is input into the mechanism model to replace the lateral displacement variable in the functional relationship. L t , and calculate the roll gap tilt adjustment amount on one side of the roll body based on the functional relationship L 1.

[0064] In some embodiments, the mechanism model can also integrate multiple functional relationships in steps, so that the data processing device can perform data calculations in sequence according to the multiple functional relationships after calling the mechanism model. That is, when the data processing device calculates the roll gap tilt adjustment amount on one side of the roller body according to the mechanism model and the far-end lateral displacement, it can first extract the step-by-step functional relationship from the mechanism model, wherein the step-by-step functional relationship includes the speed difference expression on both sides, the third functional relationship, and the roll gap tilt adjustment amount on one side of the roller body. Then, the speed difference on both sides is calculated according to the far-end lateral displacement and the speed difference expression on both sides, and the first side thickness is calculated according to the speed difference on both sides and the third functional relationship. Then, the roll gap tilt adjustment amount on one side of the roller body is calculated according to the first side thickness and the roll gap tilt adjustment amount expression on one side of the roller body.

[0065] For example, the mechanism model includes three functional relationships corresponding to Formula 7, Formula 9 and Formula 15. After obtaining the far-end lateral displacement, the data processing device can first substitute the far-end lateral displacement into Formula 7 to calculate the speed difference Δ on both sides through Formula 7: V Then substitute the calculated velocity difference between the two sides into Formula 9 to calculate the thickness of the first side through Formula 9. . Then calculate the thickness of the first side Substitute into formula 15 to calculate the roll gap tilt amount that needs to be adjusted on one side of the roller body through formula 15 L 1.

[0066] S104, generating an adjustment instruction based on the roll gap inclination adjustment amount, and sending the adjustment instruction to the roll gap adjustment mechanism of the rolling mill.

[0067] After calculating the roll gap tilt adjustment amount, the data processing device can generate an adjustment instruction based on the roll gap tilt adjustment amount and send the adjustment instruction to the roll gap adjustment mechanism of the rolling mill. The adjustment instruction is used to control the roll gap adjustment mechanism of the rolling mill to produce an adjustment action, thereby adjusting the roll gap width of the rolls so that the second side speed V 2 and first side speed V 1 is equal to improve the sickle curve phenomenon.

[0068] In order to adjust the roll gap width, in some embodiments, the data processing device may first obtain the current operating parameters of the roll gap adjustment mechanism when generating an adjustment instruction based on the roll gap tilt adjustment amount. The roll gap adjustment mechanism includes a first adjustment component and a second adjustment component, wherein the first adjustment component is used to adjust the roll gap width on the first side; and the second adjustment component is used to adjust the roll gap width on the second side.

[0069] Then, the actual adjustment distance is calculated according to the current operating parameters and the roll gap tilt adjustment amount, and the actual adjustment distance is packaged into the adjustment instruction. The actual adjustment distance includes a first distance and a second distance; the first distance is used to characterize the adjustment amount of the first side roll gap width; the second distance is used to characterize the adjustment amount of the second side roll gap width.

[0070] For example, the control of sickle bending of plate rolled pieces during rolling can be performed by the hydraulic cylinder of the roll gap adjustment mechanism of the rolling mill, and the correction function can be achieved by changing the roll gaps on both sides. According to the mechanism model shown in the above embodiment, when Δ t The remote end is detected within the time L t When the lateral displacement is large or small, two adjustment instructions can be generated, namely, the MI acting on the left hydraulic cylinder l and the adjustment command MI acting on the right hydraulic cylinder r Based on the generated adjustment instructions, the roll gap inclination on both sides of the rolling mill can be adjusted by hydraulic oil columns to achieve the correction of sickle bending, that is, the hydraulic cylinder on the side of the bent plate reduces the roll gap. L 1. The hydraulic cylinder on the other side lifts the roller gap L 1. It can theoretically ensure the straightness of the steel plate in subsequent rolling and alleviate the sickle bending phenomenon.

[0071] By applying the technical solution of the above embodiment, the plate sickle control method based on remote lateral shift detection provided in the above embodiment can deduce the relationship between the speed difference and lateral shift of the steel plate on both sides of the steel plate by analyzing the speed difference and sickle bend amount of the steel plate on both sides of the steel plate on the exit side of the steel plate production process, according to the speed and sickle bend lateral shift amount of the steel plate on the exit side of the rolling mill. And by using the principle that the volume of the steel plate in the deformation zone remains unchanged, the single-side roll gap tilt adjustment amount of the roller is calculated. By calculating the single-side roll gap tilt adjustment amount of the roller and adjusting the roll gap, the problem of poor sickle control effect of the plate steel plate can be changed, and the sickle bend can be automatically corrected and adjusted to improve the product quality and yield rate of the plate steel plate.

[0072] Considering the simplification of conditions and calculation error in the derivation process of the above relationship, an integral controller can also be used to eliminate the cumulative deviation in the production process. That is, in some embodiments, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, some embodiments of this application also provide a plate sickle control method based on remote lateral displacement detection, such as Figure 8 As shown, the method includes: S201, obtaining detection deviation; S202, sending the detection deviation to an integral controller; S203, setting the integral time of the integral controller; S204, correcting the roller gap tilt adjustment amount according to the output signal of the integral controller.

[0073] The integral controller is used to assist in the camber correction adjustment of the plate rolled piece. The integral controller is a controller that adjusts the system output by accumulating errors. The integral controller can be used to eliminate steady-state errors, that is, the continuous deviation between the output value and the set value after the system reaches a stable state. For example, the output of the integral controller is proportional to the integral of the error, that is, the output of the integral controller and the error relationship formula is: (Formula 16); in, u ( t ) is the output of the controller, K i is the integral gain, e ( τ ) is the error between the set value and the actual value.

[0074] The integral controller can monitor the error and continue to accumulate the error. Due to the existence of the integral term, the output of the controller will continue to increase until the error is zero. Through the memory mechanism, the integral controller can compensate for the steady-state error when the proportional control is not enough to eliminate the error alone. Therefore, by reasonably setting the integral gain and adopting an appropriate control strategy, the integral controller can effectively eliminate the accumulated deviation and improve the control accuracy and stability of the system.

[0075] In order to eliminate the accumulated deviation, the data processing device can set the setting value of the integral controller so that the far-end lateral displacement within a preset detection period is equal to 0; the feedback value of the integral controller is the far-end lateral displacement, and the speed of adjusting the deviation is ensured by setting the integral time of the integral controller.

[0076] like Fig. 9 As shown, by detecting the distal lateral displacement L t , the roll gap tilt setting value for controlling the sickle bending can be calculated, that is, the roll gap tilt amount that needs to be adjusted on one side of the roll body shown in the above embodiment L 1. The detection deviation is sent to the integral controller to assist in the sickle correction adjustment. The setting value of the integral controller is Δ t There is no far-end lateral displacement within the time, that is, the ideal value is 0, and the feedback value is the far-end lateral displacement L t By setting the integral time, the speed of adjusting the deviation can be guaranteed, the accumulated deviation of the sickle bending control in the production process can be dynamically eliminated, and the subsequent rolled plate can be guaranteed to be straight.

[0077] In some embodiments, as a specific implementation of the plate sickle bending control method based on remote lateral displacement detection described in the above embodiments, some embodiments of the present application also provide a plate sickle bending control system based on remote lateral displacement detection, such as Fig.10 As shown, the system includes a rolling mill and a data processing device, wherein the rolling mill includes a roll gap adjustment mechanism; the roll gap adjustment mechanism is connected to the data processing device, and the data processing device includes: An acquisition module is used to acquire the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period; A model calling module is used to call a mechanism model, wherein the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roll body and the distal end lateral displacement; the mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width and the preset detection cycle; A calculation module, used for calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; The instruction generation module is used to generate an adjustment instruction based on the roll gap inclination adjustment amount, and send the adjustment instruction to the roll gap adjustment mechanism of the rolling mill.

[0078] It should be noted that for other corresponding descriptions of the functional units involved in a plate sickle bend control system based on remote lateral movement detection provided in an embodiment of the present application, reference can be made to the corresponding descriptions in the plate sickle bend control method based on remote lateral movement detection provided in the above embodiment, and will not be repeated here.

[0079] By applying the technical solutions of the above-mentioned embodiments, the embodiments of the present application provide a plate sickle control system based on remote transverse displacement detection, in which the data processing equipment in the system can first obtain the remote transverse displacement of the plate rolled piece during the rolling process within a preset detection period. Then the mechanism model is called, and the roll gap tilt adjustment amount on one side of the roller body is calculated according to the mechanism model and the remote transverse displacement. Thus, an adjustment instruction is generated based on the roll gap tilt adjustment amount, and the adjustment instruction is sent to the roll gap adjustment mechanism of the rolling mill. Among them, the mechanism model is generated based on the remote transverse displacement, combined with the transverse displacement force arm, rolling width and preset detection period of the plate rolled piece. The system can deduce the roll gap tilt amount that needs to be adjusted for the sickle of the exported plate rolled piece by analyzing the relationship between the speed difference on both sides of the plate rolled piece outlet and the sickle bending amount, so as to control the sickle bending phenomenon of the plate rolled piece, so as to solve the problem of low accuracy value caused by the sickle bending phenomenon of the plate rolled piece.

[0080] The embodiment of the present application also provides a computer device, which can be a personal computer, a server, a network device, etc. The computer device includes a bus, a processor, a memory and a communication interface, and can also include an input and output interface and a display device. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store location information. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in each method embodiment are implemented.

[0081] Those skilled in the art will appreciate that the structure of the above-mentioned computer device is only a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components, or combine certain components, or have a different arrangement of components.

[0082] In one embodiment, a computer-readable storage medium is also provided. The computer-readable storage medium may be non-volatile or volatile, and stores a computer program thereon. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0083] In one embodiment, a computer program product is also provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0084] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0085] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0086] Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc.

[0087] Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0088] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0089] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A plate camber control method based on remote lateral displacement detection, characterized in that: The method comprises: Obtaining the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period; Calling a mechanism model, the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roll body and the distal end lateral displacement; the mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width and the preset detection cycle; Calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; An adjustment instruction is generated based on the roll gap inclination adjustment amount, and the adjustment instruction is sent to a roll gap adjustment mechanism of the rolling mill.

2. The method according to claim 1, characterized in that The method further comprises: Setting speed variables on both sides, wherein the speed variables on both sides include a first side speed and a second side speed of the plate rolled piece at a rolling discharge position; Calculating a speed difference between two sides according to the speed variables on both sides, wherein the speed difference between two sides is equal to a difference between the first side speed and the second side speed; Obtain the rolling width and theoretical discharge length within the preset detection cycle; Calculating the lateral force arm according to the rolling width and the theoretical discharge length; The mechanism model is generated based on the distal end lateral displacement, in combination with the lateral displacement force arm, the rolling width and the preset detection period.

3. The method according to claim 2, characterized in that The mechanism model is generated based on the distal end lateral displacement, in combination with the lateral displacement force arm, the rolling width and the preset detection period, including: Constructing a distal speed variable and a rotation angle variable, wherein the distal speed variable is used to characterize the linear speed of the distal midpoint of the plate rolled piece; and the rotation angle variable is used to characterize the deflection angle of the distal midpoint of the plate rolled piece under the sickle bending phenomenon; Based on the principle that the angular velocity of each position on the plate rolled piece is the same, determining a first functional relationship between the distal velocity variable and the velocity difference between the two sides; Acquire a second functional relationship between the rotation angle variable and the distal end lateral displacement; The first functional relationship and the second functional relationship are combined based on the speed difference on both sides to generate the mechanism model.

4. The method according to claim 3, characterized in that The first functional relationship and the second functional relationship are combined based on the speed difference between the two sides to generate the mechanism model, including: Constructing thickness variables, the thickness variables comprising a first thickness variable and a second thickness variable, the first thickness variable being used to characterize the thickness of the plate rolled piece on the first side, and the second thickness variable being used to characterize the thickness of the plate rolled piece on the second side; Based on the principle of constant rolling volume, a third functional relationship between the thickness variable and the speed variables on both sides is established; Determining a fourth functional relationship between the first thickness variable and the second thickness variable according to the third functional relationship, wherein the fourth functional relationship includes a thickness coefficient, and the thickness coefficient is 1 plus a ratio of the velocity difference between the two sides to the first side velocity; The fourth functional relationship is substituted into the thickness inclination adjustment relationship to generate the mechanism model, wherein the thickness inclination relationship is determined according to the thickness difference, the rolling mill width and the rolled piece width; the thickness difference is equal to the difference between the first thickness variable and the second thickness variable.

5. The method according to claim 4, characterized in that Substituting the fourth functional relationship into the thickness tilt adjustment relationship to generate the mechanism model includes: Get the mill width; Calculating a tilt coefficient based on the rolling mill width and the workpiece width, wherein the tilt coefficient is 1 / 2 of the ratio of the rolling mill width to the workpiece width; constructing a thickness difference variable, wherein the thickness difference variable is used to characterize the difference between the first thickness variable and the second thickness variable; A fifth functional relationship between the roller body single-side thickness inclination adjustment amount and the thickness difference variable is constructed based on the inclination coefficient.

6. The method according to claim 5, characterized in that The method further comprises: Obtain the plasticity coefficient of rolled product and the stiffness of rolling mill; Calculating a deformation coefficient according to the plastic coefficient of the rolled piece and the rigidity of the rolling mill, wherein the deformation coefficient is 1 plus the ratio of the plastic coefficient of the rolled piece to the rigidity of the rolling mill; The deformation coefficient is added to the fifth functional relationship to generate the mechanism model.

7. The method according to claim 5, characterized in that The method further comprises: Acquire the specification parameters and rolling process parameters of the rolling mill, wherein the specification parameters include the radius of the rolling mill roll; the rolling process parameters include the thickness of the plate rolled piece before rolling and the thickness after rolling; Creating rolling angle variables, wherein the rolling angle variables include a bite angle and a neutral angle; According to the geometrical characteristics of the rolling deformation zone, expressions for the bite angle and the neutral angle are established.

8. The method according to claim 1, characterized in that Generating an adjustment instruction based on the roll gap inclination adjustment amount includes: Acquire current operating parameters of the roll gap adjustment mechanism, wherein the roll gap adjustment mechanism comprises a first adjustment component and a second adjustment component, wherein the first adjustment component is used to adjust the roll gap width on the first side; and the second adjustment component is used to adjust the roll gap width on the second side; Calculating an actual adjustment distance according to the current operating parameters and the roll gap tilt adjustment amount, the actual adjustment distance comprising a first distance and a second distance; the first distance is used to characterize the adjustment amount of the first side roll gap width; the second distance is used to characterize the adjustment amount of the second side roll gap width; The actual adjustment distance is encapsulated into the adjustment instruction.

9. The method according to claim 1, characterized in that: The method further comprises: Get detection bias; The detection deviation is sent to an integral controller, and the integral controller is used to assist in performing sickle correction adjustment on the plate rolled piece; the setting value of the integral controller is that the far-end lateral displacement within a preset detection cycle is equal to 0; and the feedback value of the integral controller is the far-end lateral displacement; Setting the integral time of the integral controller; The roll gap tilt adjustment amount is corrected according to the output signal of the integral controller.

10. A plate sickle control system based on remote lateral movement detection, characterized in that: The system comprises a rolling mill and a data processing device, wherein the rolling mill comprises a roll gap adjustment mechanism; the roll gap adjustment mechanism is connected to the data processing device, and the data processing device comprises: An acquisition module is used to acquire the far-end lateral displacement of the plate rolled piece during the rolling process within a preset detection period; A model calling module is used to call a mechanism model, wherein the mechanism model is used to characterize the functional relationship between the roll gap tilt adjustment amount on one side of the roll body and the distal end lateral displacement; the mechanism model is generated based on the distal end lateral displacement, combined with the lateral displacement force arm of the plate rolled piece, the rolling width and the preset detection cycle; A calculation module, used for calculating the roll gap tilt adjustment amount on one side of the roll body according to the mechanism model and the distal end lateral displacement; The instruction generation module is used to generate an adjustment instruction based on the roll gap inclination adjustment amount, and send the adjustment instruction to the roll gap adjustment mechanism of the rolling mill.

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