Steel pipe continuous rolling and cutting parameter optimization method and device, electronic equipment and storage medium

Abstract

The present application relates to seamless steel pipe continuous rolling parameter optimization technical field, especially to a kind of steel pipe continuous rolling sharpening parameter optimization method, device, electronic equipment and storage medium, the present application first obtains steel pipe specification and billet temperature;Then according to steel pipe specification and billet temperature, find target historical record from sizing tracking database, and according to target historical record, determine the first sharpening compensation queue according to corresponding steel pipe position sorting;Then according to the first sharpening compensation queue, determine the rack compensation length and multiple wall thickness compensation amounts for each rack, and according to the rack compensation length, the rack steel pipe outlet speed and multiple wall thickness compensation amounts, construct the first reduction compensation amount queue according to time node sorting;Finally, for each first reduction compensation amount queue, construct the set value compensation queue according to time node sorting according to the response characteristic of corresponding rack roll gap value to set value.The sharpening size control of the present application is more accurate, and the yield of seamless steel pipe is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of seamless pipe continuous rolling parameter optimization, and in particular to a seamless pipe continuous rolling trimming parameter optimization method and device, electronic equipment and storage medium. BACKGROUND

[0002] Seamless pipe is a kind of long strip steel with hollow section and no joint on the periphery. Due to its high strength, good toughness and strong pressure-bearing capacity, it is widely used in the fields of industry, construction, energy and transportation. The seamless pipe produced by hot rolling process has the characteristics of high production efficiency and wide application specifications, and has become the most widely used seamless pipe production process.

[0003] The core production steps of the seamless pipe produced by the hot rolling process include pipe blank heating, piercing, hot rolling, sizing and reducing, and cooling and finishing. The sizing process as a link of the core process determines the dimensional accuracy and yield of the seamless pipe to a certain extent. However, in the sizing and reducing process, due to the influence of the process, the head and / or tail end of the pipe will have a phenomenon of wall thickness thickening. The corresponding pipe product will be cut off by sawing to ensure that the size of each part of the finished pipe meets the product standard.

[0004] In one production process, a thinning section is generated at the end of the hot-rolled pipe blank (pipe blank trimming), which partially offsets the influence of wall thickness thickening caused by the sizing and reducing process, thereby improving the yield of the seamless pipe.

[0005] However, since some hot rolling equipment uses continuous rolling process for production, the number of rolling links involved is large, which greatly limits the control ability of the pipe blank trimming size, affecting the role of pipe blank trimming in improving the yield of the seamless pipe.

[0006] Therefore, it is necessary to develop a seamless pipe continuous rolling trimming parameter optimization method. SUMMARY

[0007] The embodiments of the present application provide a seamless pipe continuous rolling trimming parameter optimization method, device, electronic equipment and storage medium, which are used to solve the problem of inaccurate control of the size of the pipe continuous rolling trimming in the prior art.

[0008] In a first aspect, the embodiments of the present application provide a seamless pipe continuous rolling trimming parameter optimization method, comprising:

[0009] obtaining the pipe specification and the pipe blank temperature;

[0010] According to the steel pipe specification and the raw pipe temperature, a target historical record is found from a sizing tracking database, and a first trimming compensation queue sorted according to corresponding steel pipe positions is determined according to the target historical record, wherein sizing size data volatility of the target historical record is better than that of steel pipes of the same specification in the sizing tracking database;

[0011] For each rack, a rack compensation length and a plurality of wall thickness compensation amounts are determined according to the first trimming compensation queue, and a first reduction compensation amount queue sorted according to time nodes is constructed according to the rack compensation length, a rack steel pipe outlet speed and the plurality of wall thickness compensation amounts;

[0012] For each first reduction compensation amount queue, a set value compensation queue sorted according to time nodes is constructed according to a response characteristic of a set value to a corresponding rack roll gap value.

[0013] In a possible implementation manner, the target historical record is found from the sizing tracking database according to the steel pipe specification and the raw pipe temperature, and the first trimming compensation queue sorted according to the corresponding steel pipe positions is determined according to the target historical record, comprising:

[0014] A plurality of historical records matching the steel pipe specification and the raw pipe temperature are found from the sizing tracking database as a plurality of alternative historical records;

[0015] An alternative historical record is taken out from the plurality of alternative historical records in a traversal manner, and the following steps are performed after the alternative historical record is taken out:

[0016] A mean value of a plurality of pre-sizing measured wall thickness values of a middle section of a corresponding steel pipe and a mean value of a plurality of post-sizing measured wall thickness values of the middle section of the corresponding steel pipe are respectively calculated as a pre-sizing wall thickness mean value and a post-sizing wall thickness mean value;

[0017] A trimming compensation section is determined according to the pre-sizing wall thickness mean value, wherein a deviation of pre-sizing measured wall thickness data of the trimming compensation section from the pre-sizing wall thickness mean value is greater than a threshold value;

[0018] A plurality of pre-sizing measured wall thickness values of the trimming compensation section and a plurality of post-sizing measured wall thickness values of the trimming compensation section are respectively arranged according to corresponding positions, to obtain a first measured wall thickness queue and a second measured wall thickness queue;

[0019] A sizing steel pipe wall thickness uniformity index is determined according to the second measured wall thickness queue and the post-sizing wall thickness mean value, and the sizing steel pipe wall thickness uniformity index is added to an index array;

[0020] If the traversal of the plurality of alternative historical records is not completed, the step of taking out an alternative historical record from the plurality of alternative historical records in a traversal manner is jumped to;

[0021] Otherwise, the candidate history record corresponding to the index with the minimum value in the index array is taken as the target history record;

[0022] A first sharpening compensation queue is constructed using the first measured wall thickness queue constructed according to the target history record and the mean wall thickness before sizing.

[0023] In a possible implementation, the determining of the sizing steel pipe wall thickness uniformity index according to the second measured wall thickness queue and the mean wall thickness after sizing includes:

[0024] The sizing steel pipe wall thickness uniformity index is determined according to a first formula, the second measured wall thickness queue and the mean wall thickness after sizing, where the first formula is:

[0025]

[0026] wherein, is the sizing steel pipe wall thickness uniformity index, is the i th data in the second measured wall thickness queue, is the total number of data in the second measured wall thickness queue, is the mean wall thickness after sizing.

[0027] In a possible implementation, for each stand, the stand compensation length and the plurality of wall thickness compensation amounts are determined according to the first sharpening compensation queue, and a first reduction compensation amount queue sorted according to time nodes is constructed according to the stand compensation length, the stand steel pipe outlet speed and the plurality of wall thickness compensation amounts, including:

[0028] The plurality of wall thickness change amounts and the plurality of roll gap values are obtained, where each stand corresponds to one wall thickness change amount and one roll gap value;

[0029] For each stand, the following steps are performed respectively:

[0030] The plurality of wall thickness compensation amounts are determined according to the first sharpening compensation queue and the plurality of wall thickness change amounts, and the stand compensation length is determined according to the sharpening compensation length corresponding to the first sharpening compensation queue, the outlet wall thickness corresponding to the stand and the plurality of wall thickness compensation amounts;

[0031] The stand sharpening duration is determined according to the stand sharpening compensation length and the outlet speed corresponding to the stand;

[0032] The plurality of stand reduction compensation amounts are determined according to the wall thickness change amount corresponding to the stand, the roll gap value corresponding to the stand and the plurality of wall thickness compensation amounts, and the plurality of stand reduction compensation amounts are constructed into a second reduction compensation amount queue;

[0033] ​According to the number of time nodes in the length of the stand sharpening, the second press-down compensation quantity queue is interpolated to obtain a first press-down compensation quantity queue.

[0034] In a possible implementation, the determining the plurality of wall thickness compensation quantities according to the first sharpening compensation queue and the plurality of wall thickness change quantities comprises:

[0035] The plurality of wall thickness compensation quantities are determined according to a second formula, the first sharpening compensation queue and the plurality of wall thickness change quantities, wherein the second formula is:

[0036]

[0037] In the formula, is the i th wall thickness compensation quantity of the j th stand, is the i th data of the first sharpening compensation queue, is the j th wall thickness change quantity of the i th stand, is the j th wall thickness change quantity of the i th stand, is the total number of the plurality of wall thickness compensation quantities, is the total number of the plurality of wall thickness change quantities, is the total number of the plurality of wall thickness change quantities, is the total number of the plurality of wall thickness change quantities, is the total number of the plurality of wall thickness change quantities, is the total number of the plurality of wall thickness change quantities.

[0038] The determining the stand compensation length according to the sharpening compensation length corresponding to the first sharpening compensation queue, the outlet wall thickness corresponding to the stand and the plurality of wall thickness compensation quantities comprises:

[0039] The determining the stand compensation length according to a third formula, the sharpening compensation length corresponding to the first sharpening compensation queue, the outlet wall thickness corresponding to the stand, the plurality of wall thickness compensation quantities, the outlet steel pipe cross-sectional area of the stand and the outlet steel pipe cross-sectional area of the last stand, wherein the third formula is:

[0040]

[0041] In the formula, is the i th stand compensation length, is the outlet wall thickness corresponding to the j th stand, is the total number of the plurality of wall thickness compensation quantities, is the sharpening compensation length corresponding to the first sharpening compensation queue, is the outlet steel pipe cross-sectional area of the last stand, is the outlet steel pipe cross-sectional area of the i th stand.

[0042] ​​​In a possible implementation manner, the constructing, for each first press-down compensation queue, a setpoint compensation queue sorted according to time nodes according to a response characteristic of a corresponding mill roll gap value to a setpoint value comprises:

[0043] The following steps are respectively performed for each first press-down compensation queue:

[0044] A roll gap value response model corresponding to the mill and a plurality of first setpoint queues are obtained, wherein the roll gap value response model outputs a roll gap value queue representing roll gap value fluctuation according to a setpoint value, and the first setpoint queue is constructed according to a plurality of random numbers generated based on the roll gap value of the mill;

[0045] For each first setpoint queue, the setpoint value is sequentially input into the roll gap value response model, and the output of the roll gap value response model is sequentially arranged to obtain a roll gap value response queue;

[0046] For each roll gap value response queue, the data in the roll gap value response queue are respectively subtracted from the roll gap value of the mill to obtain a third press-down compensation queue;

[0047] A plurality of queue deviations are determined according to the first press-down compensation queue and the plurality of third press-down compensation queues;

[0048] The plurality of queue deviations are respectively added to a plurality of deviation queues, wherein each deviation queue corresponds to a first setpoint queue;

[0049] If the number of iterations is not reached, the following steps are performed:

[0050] For each first setpoint queue, a historical optimal queue corresponding to a minimum value in a corresponding deviation queue is found as a historical optimal queue, a queue corresponding to a minimum value in the plurality of queue deviations is found as a global optimal queue, the first setpoint queue is adjusted according to the historical optimal queue and the global optimal queue, the adjusted first setpoint queue is taken as the first setpoint queue, and the step of sequentially inputting the setpoint value into the roll gap value response model and sequentially arranging the output of the roll gap value response model to obtain the roll gap value response queue is jumped to;

[0051] Otherwise, a queue corresponding to a minimum value in the plurality of deviation queues is found as a global optimal queue;

[0052] Data in the global optimal queue are subtracted from the roll gap value of the mill to obtain a setpoint compensation queue.

[0053] In a possible implementation manner, the determining, according to the first press-down compensation queue and the plurality of third press-down compensation queues, a plurality of queue deviations comprises:

[0054] Based on the fourth formula, the first compression compensation queue, and multiple third compression compensation queues, multiple queue deviations are determined, wherein the fourth formula is:

[0055]

[0056] In the formula, For queue deviation, For the first compression compensation queue One data point, For the third compression compensation queue One data point, This represents the total number of data items in the first compression compensation queue.

[0057] Secondly, embodiments of the present invention provide a steel pipe continuous rolling mill tipping parameter optimization device for implementing the steel pipe continuous rolling mill tipping parameter optimization method as described in the first aspect or any possible implementation thereof, the steel pipe continuous rolling mill tipping parameter optimization device comprising:

[0058] The raw pipe parameter acquisition module is used to obtain the steel pipe specifications and raw pipe temperature;

[0059] The tipping compensation parameter determination module is used to find the target historical record from the sizing tracking database according to the steel pipe specification and the raw pipe temperature, and to determine the first tipping compensation queue sorted according to the corresponding steel pipe position based on the target historical record. The sizing dimension data fluctuation of the target historical record is better than that of steel pipes of the same specification in the sizing tracking database.

[0060] The compression compensation amount determination module is used to determine the frame compensation length and multiple wall thickness compensation amounts for each frame based on the first sharpening compensation queue, and to construct a first compression compensation amount queue sorted according to time nodes based on the frame compensation length, the frame steel pipe exit speed and the multiple wall thickness compensation amounts.

[0061] as well as,

[0062] The setpoint compensation amount determination module is used to construct a setpoint compensation queue sorted by time node for each first reduction compensation amount queue based on the response characteristics of the corresponding stand roll gap value to the setpoint.

[0063] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method as described in the first aspect or any possible implementation of the first aspect.

[0064] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method according to the first aspect or any possible implementation of the first aspect.

[0065] Compared with the prior art, the present application has the following beneficial effects:

[0066] The steel pipe continuous rolling and cutting parameter optimization method provided by the present application comprises the following steps: firstly, obtaining the steel pipe specification and the billet temperature; then, finding a target historical record from the sizing tracking database according to the steel pipe specification and the billet temperature, and determining a first cutting compensation queue according to the corresponding steel pipe position sequence according to the target historical record, wherein the sizing size data fluctuation of the target historical record is better than that of the steel pipes of the same specification in the sizing tracking database; then, for each stand, determining a stand compensation length and a plurality of wall thickness compensation amounts according to the first cutting compensation queue, and constructing a first reduction compensation amount queue according to the time node sequence according to the stand compensation length, the stand steel pipe outlet speed and the plurality of wall thickness compensation amounts; finally, for each first reduction compensation amount queue, constructing a setting value compensation queue according to the time node sequence according to the response characteristic of the corresponding stand roll gap value to the setting value. According to the present application, the wall thickness cutting compensation amount is determined from the sizing steel pipe database, the wall thickness cutting parameter is distributed to each stand, the wall thickness compensation amount is consumed by the stands, and the setting value compensation queue is generated according to the response characteristic of the stand roll, so that the billet after continuous rolling has the expected cutting parameter at the end, the cutting size control is more accurate, and the yield of seamless steel pipes is improved. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0068] Figure 1 is a flow chart of the steel pipe continuous rolling and cutting parameter optimization method provided by the present application;

[0069] Figure 2 is a principle diagram for improving the yield of steel pipes by billet cutting compensation provided by the present application;

[0070] Figure 3 is a functional block diagram of the steel pipe continuous rolling and cutting parameter optimization device provided by the present application;

[0071] Figure 4 This is a functional block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0072] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0073] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0074] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0075] Figure 1 A flowchart of a method for optimizing the steel pipe continuous rolling tipping parameters provided in an embodiment of the present invention.

[0076] like Figure 1 As shown, a flowchart illustrating the implementation of the steel pipe continuous rolling tipping parameter optimization method provided by the embodiments of the present invention is presented, and is described in detail below:

[0077] In step 101, the steel pipe specifications and the temperature of the raw pipe are obtained.

[0078] In step 102, based on the steel pipe specifications and the raw pipe temperature, a target historical record is found from the sizing tracking database, and a first tipping compensation queue is determined according to the target historical record and sorted by the corresponding steel pipe position. The sizing dimension data fluctuation of the target historical record is better than that of steel pipes of the same specifications in the sizing tracking database.

[0079] In some embodiments, the step of finding a target historical record from the sizing tracking database based on the steel pipe specifications and the rough pipe temperature, and determining a first tipping compensation queue sorted according to the corresponding steel pipe position based on the target historical record, includes:

[0080] Multiple historical records matching the steel pipe specifications and the raw pipe temperature are found from the sizing tracking database as multiple alternative historical records;

[0081] Retrieve candidate history records iteratively from the plurality of candidate history records, and perform the following steps after retrieval:

[0082] respectively, as the mean wall thickness before sizing and the mean wall thickness after sizing;

[0083] According to the mean wall thickness before sizing, a tip compensation section is determined, wherein the deviation of the measured wall thickness data of the tip compensation section before sizing from the mean wall thickness before sizing is greater than a threshold value;

[0084] According to the corresponding positions, the multiple measured wall thickness values of the tip compensation section before sizing and the multiple measured wall thickness values of the tip compensation section after sizing are respectively arranged to obtain a first measured wall thickness queue and a second measured wall thickness queue;

[0085] A wall thickness uniformity index of the sizing pipe is determined according to the second measured wall thickness queue and the mean wall thickness after sizing, and the wall thickness uniformity index of the sizing pipe is added to an index array;

[0086] If the traversal of the multiple candidate historical records is not completed, the step of taking out a candidate historical record from the multiple candidate historical records is jumped to;

[0087] Otherwise, the candidate historical record corresponding to the minimum index in the index array is taken as the target historical record;

[0088] A first tip compensation queue is constructed by using the first measured wall thickness queue constructed according to the target historical record and the mean wall thickness before sizing.

[0089] In some embodiments, the determination of the wall thickness uniformity index of the sizing pipe according to the second measured wall thickness queue and the mean wall thickness after sizing includes:

[0090] The wall thickness uniformity index of the sizing pipe is determined according to a first formula, the second measured wall thickness queue and the mean wall thickness after sizing, wherein the first formula is:

[0091]

[0092] wherein, is the wall thickness uniformity index of the sizing pipe, is the i th data of the second measured wall thickness queue, is the total number of data in the second measured wall thickness queue, is the mean wall thickness after sizing.

[0093] Exemplarily, as Figure 2 ​As shown, the diagram shows the principle diagram of the effect of the piercing of the hollow pipe to offset the wall thickness enhancement of the pipe end during the sizing process. The sizing pipe 202 produced by the sizing process has a certain degree of thickening at both ends. The present application provides a method for optimizing the piercing parameters of the hollow pipe based on the continuous rolling process. The method controls each rack of the continuous rolling equipment, so that the piercing hollow pipe 201 produced by the continuous rolling process can better compensate for the sizing hollow pipe 202, so that the wall thickness of the finished product 203 at both ends is reduced, and the yield of the finished product 203 is improved.

[0094] In order to achieve the above purpose, the method of the present application finds the size data of the better historical hollow pipe based on the historical records in the sizing tracking database, analyzes the size data to obtain the compensation data of the wall thickness piercing of the hollow pipe, and then distributes the wall thickness compensation amount to each rack based on the compensation data. Since the continuous rolling equipment usually does not have the function of real-time detection of the outlet length of the hollow pipe, and usually does not have the function of real-time detection of the wall thickness, the wall thickness compensation amount is then converted into the reduction compensation amount corresponding to the time node. Finally, since the roll gap value of the rack is adjusted by the automatic control equipment using the automatic control algorithm, the roll gap value of the roll has a response characteristic compared with the set value, so the reduction compensation amount is converted into the compensation value of the roll set value according to the roll. When the roll gap of the roll is compensated according to the compensation value, a hollow pipe with a preset piercing effect is finally produced.

[0095] In terms of generating piercing wall thickness compensation data based on the sizing tracking database, the present application performs preliminary screening on the historical records based on the specifications of the steel pipe and the expected temperature of the hollow pipe (the temperature of the hollow pipe before entering the sizing process after continuous rolling), and only retains the historical records matching the specifications and the temperature of the hollow pipe as alternative historical records.

[0096] In order to find better records from these alternative historical records, the present application traverses the alternative historical records. The average wall thickness before sizing and the average wall thickness after sizing of the middle section of the steel pipe are used as a reference, and the piercing compensation section is determined according to the average wall thickness before sizing. For example, starting from the data at one end of the steel pipe, the section with a difference greater than the deviation threshold from the average wall thickness before sizing is used as the piercing compensation section.

[0097] The wall thickness data section of the steel pipe before sizing and the wall thickness data section after sizing corresponding to the piercing compensation section are extracted as two measured wall thickness queues. For the measured wall thickness queue constructed from the wall thickness data section after sizing, the average wall thickness after sizing obtained in the foregoing step is used as a reference to determine the uniformity index of the piercing compensation section. In one application scenario, the following formula is used:

[0098]

[0099] In the formula, is the wall thickness uniformity index of the sizing pipe, the first measured wall thickness queue is the first measured wall thickness queue of the first data segment of the second measured wall thickness queue the first measured wall thickness queue is the first measured wall thickness queue of the first data segment of the second measured wall thickness queue the first measured wall thickness queue is the first measured wall thickness queue of the first data segment of the second measured wall thickness queue the first measured wall thickness queue is the first measured wall thickness queue of the first data segment of the second measured wall thickness queue

[0100] The more uniform the wall thickness is, the smaller the uniformity index obtained by the above formula is. In this way, the record of the steel pipe with the best wall thickness uniformity after sizing can be found from the alternative historical records.

[0101] The measured wall thickness queue constructed by the wall thickness data segment extracted from the record of the best steel pipe is subtracted from the wall thickness mean value obtained in the foregoing step, and the corresponding tip compensation queue, that is, the first tip compensation queue, is obtained.

[0102] In step 103, for each stand, a stand compensation length and a plurality of wall thickness compensation amounts are determined according to the first tip compensation queue, and a first reduction compensation amount queue sorted according to time nodes is constructed according to the stand compensation length, a stand steel pipe outlet speed, and the plurality of wall thickness compensation amounts.

[0103] In some embodiments, the step of, for each stand, determining a stand compensation length and a plurality of wall thickness compensation amounts according to the first tip compensation queue, and constructing a first reduction compensation amount queue sorted according to time nodes according to the stand compensation length, a stand steel pipe outlet speed, and the plurality of wall thickness compensation amounts, comprises:

[0104] a plurality of wall thickness change amounts and a plurality of roll gap values are obtained, wherein each stand corresponds to a wall thickness change amount and a roll gap value;

[0105] For each stand, the following steps are performed respectively:

[0106] a plurality of wall thickness compensation amounts are determined according to the first tip compensation queue and the plurality of wall thickness change amounts, and a stand compensation length is determined according to a tip compensation length corresponding to the first tip compensation queue, an outlet wall thickness corresponding to the stand, and the plurality of wall thickness compensation amounts;

[0107] a stand tip compensation time length is determined according to the stand tip compensation length and an outlet speed corresponding to the stand;

[0108] a plurality of stand reduction compensation amounts are determined according to the wall thickness change amount corresponding to the stand, the roll gap value corresponding to the stand, and the plurality of wall thickness compensation amounts, and the plurality of stand reduction compensation amounts are constructed into a second reduction compensation amount queue;

[0109] The second reduction compensation amount queue is interpolated according to the number of time nodes within the stand tip compensation time length to obtain a first reduction compensation amount queue.

[0110] In some implementations, determining multiple wall thickness compensation amounts based on the first tapering compensation queue and the multiple wall thickness variations includes:

[0111] Based on the second formula, the first tapering compensation queue, and the multiple wall thickness variations, multiple wall thickness compensation amounts are determined, wherein the second formula is:

[0112]

[0113] In the formula, For the first The first rack Wall thickness compensation amount For the first tipping compensation queue One data point, For the first The wall thickness variation of each rack For the first The wall thickness variation of each rack This refers to the total number of racks;

[0114] The step of determining the frame compensation length based on the sharpening compensation length corresponding to the first sharpening compensation queue, the exit wall thickness corresponding to the frame, and the plurality of wall thickness compensation amounts includes:

[0115] The frame compensation length is determined based on the third formula, the sharpening compensation length corresponding to the first sharpening compensation queue, the outlet wall thickness corresponding to the frame, the multiple wall thickness compensation amounts, the cross-sectional area of ​​the frame outlet steel pipe, and the cross-sectional area of ​​the final stage frame outlet steel pipe. The third formula is as follows:

[0116]

[0117] In the formula, For the first Individual rack compensation length, For the first The corresponding outlet wall thickness for each rack This refers to the total number of multiple wall thickness compensation amounts. This represents the sharpening compensation length corresponding to the first sharpening compensation queue. This refers to the cross-sectional area of ​​the steel pipe at the outlet of the final stage frame. For the first The cross-sectional area of ​​the steel pipe at the outlet of each rack.

[0118] For example, regarding wall thickness control, as mentioned above, continuous rolling mills have relatively complex control logic. This invention proposes to distribute the wall thickness to each stand of the continuous rolling mill for absorption. The advantage of doing so is that absorption by each stand can reduce damage to equipment and products caused by excessive deformation, and small deformation amounts can also provide more precise control over dimensions.

[0119] To achieve the goal of distributing wall thickness across each stand, this invention obtains the corresponding wall thickness variation and stand roll gap value for each stand. The wall thickness variation refers to the difference in wall thickness between the rough tube before entering the stand and after exiting the stand. Based on the wall thickness variations of multiple stands and the tipping compensation queue obtained in the preceding steps, the tipping compensation array corresponding to each stand can be calculated. In one application scenario, the following formula is used:

[0120]

[0121] In the formula, For the first The first rack Wall thickness compensation amount For the first tipping compensation queue One data point, For the first The wall thickness variation of each rack For the first The wall thickness variation of each rack This represents the total number of racks.

[0122] As mentioned above, since the length of the steel pipe passing through the rolls cannot be detected in real time, this embodiment of the invention obtains the tipping length of the frame, calculates the time it takes to pass through the frame using the tipping length of the frame and the exit speed of the frame, and allocates the reduction compensation amount of the frame rolls to the frame based on the time it takes to pass through the frame.

[0123] The following formula was used to calculate the tipping length of the frame:

[0124]

[0125] In the formula, For the first Individual rack compensation length, For the first The corresponding outlet wall thickness for each rack This refers to the total number of multiple wall thickness compensation amounts. This represents the sharpening compensation length corresponding to the first sharpening compensation queue. This refers to the cross-sectional area of ​​the steel pipe at the outlet of the final stage frame. For the first The cross-sectional area of ​​the steel pipe at the outlet of each rack.

[0126] In determining the roll pressure compensation amount, one way adopts proportional calculation, specifically, the quotient of the wall thickness compensation amount and the wall thickness change amount of the housing is multiplied by the roll gap value corresponding to the housing to obtain the roll pressure compensation amount, and multiple wall thickness compensation amounts can correspondingly obtain multiple roll pressure compensation amounts, and the multiple roll pressure compensation amounts are sorted according to positions to obtain the second pressure compensation amount queue.

[0127] After the trimming length of the housing is determined, the time length of the trimming length passing through the housing can be determined according to the outlet speed of the housing, and the first pressure compensation amount queue can be obtained by interpolating the second pressure compensation amount queue according to the number of time nodes in the time length.

[0128] In step 104, for each first pressure compensation amount queue, a set value compensation queue sorted according to time nodes is constructed according to the response characteristic of the set value to the roll gap value corresponding to the housing.

[0129] In some embodiments, the construction of the set value compensation queue sorted according to the time nodes for each first pressure compensation amount queue according to the response characteristic of the set value to the roll gap value corresponding to the housing comprises:

[0130] For each first pressure compensation amount queue, the following steps are performed respectively:

[0131] The roll gap value response model corresponding to the housing and the multiple first set value queues are obtained, wherein the roll gap value response model outputs the roll gap value queue representing the roll gap value fluctuation according to the set value, and the first set value queue is constructed according to multiple random numbers generated based on the roll gap value of the housing;

[0132] For each first set value queue, the set value input is extracted into the roll gap value response model in turn, and the output of the roll gap value response model is arranged in turn to obtain the roll gap value response queue;

[0133] For each roll gap value response queue, the data in the roll gap value response queue is subtracted from the roll gap value of the housing respectively to obtain the third pressure compensation amount queue;

[0134] According to the first pressure compensation amount queue and the multiple third pressure compensation amount queues, multiple queue deviations are determined;

[0135] The multiple queue deviations are added to the multiple deviation queues respectively, wherein each deviation queue corresponds to a first set value queue;

[0136] If the number of iterations is not reached, the following steps are performed:

[0137] For each first set value queue, the historical queue corresponding to the minimum value is found from the corresponding deviation queue as the historical optimal queue, and the queue corresponding to the minimum value is found from the multiple queue deviations as the global optimal queue. The first set value queue is adjusted according to the historical optimal queue and the global optimal queue. The adjusted first set value queue is used as the first set value queue. Then, the process jumps to the step of extracting the set value input into the roll gap value response model for each first set value queue, and arranging the output of the roll gap value response model in sequence to obtain the roll gap value response queue.

[0138] Otherwise, the queue corresponding to the minimum value among the multiple deviation queues is selected as the globally optimal queue;

[0139] The difference between the data in the global optimal queue and the roll gap value of the stand is used to obtain the set value compensation queue.

[0140] In some implementations, determining multiple queue deviations based on a first compression compensation queue and multiple third compression compensation queues includes:

[0141] Based on the fourth formula, the first compression compensation queue, and multiple third compression compensation queues, multiple queue deviations are determined, wherein the fourth formula is:

[0142]

[0143] In the formula, For queue deviation, For the first compression compensation queue One data point, For the third compression compensation queue One data point, This represents the total number of data items in the first compression compensation queue.

[0144] For example, since the roll gap value of the mill stand has certain response characteristics to the set value, in other words, after the roll gap value set value is issued, the mill stand rolls need a certain amount of time to adjust. Generally, the roll gap value of the mill stand is adjusted by PID control. For each mill stand, a roll gap value response model can be constructed based on the response characteristic curve of PID control.

[0145] In order to make the roll gap value respond to the characteristics of the first reduction compensation queue, the present application generates a set value compensation queue according to a roll gap value response model, specifically, a plurality of first set value queues are initialized, the data in the queues are sequentially input into the roll gap value response model, and the roll gap value obtained at the next time node is constructed as a roll gap value response queue, for example, the data D0~D6 in the first set value queue correspond to the set time nodes T0~T6, which are input into the roll gap value response model, the data at the next time node of the roll gap value response model are arranged to obtain the roll gap value response queue, that is, the data d1~d7 corresponding to the time nodes T1~T7 are constructed as the roll gap value response queue.

[0146] The data in the roll gap value response queue is sequentially subtracted from the roll gap value of the stand to obtain a third reduction compensation queue, and the deviation of each queue from the first reduction compensation queue is calculated using the formula:

[0147]

[0148] In the formula, is the queue deviation, is the first reduction compensation queue data, is the third reduction compensation queue data, is the first reduction compensation queue data, is the third reduction compensation queue data, is the total number of data in the first reduction compensation queue.

[0149] For each third reduction compensation queue and each first set value queue, there is a corresponding deviation queue, the above calculated deviation is added to the deviation queue, then each first set value queue is adjusted according to its historical optimal queue and the current global optimal queue, after adjustment, the steps of inputting into the model to obtain the roll gap value response queue and calculating the queue deviation are repeated, and the process is repeated for a predetermined number of times, and the third reduction compensation queue corresponding to the minimum value in the plurality of deviation queues is found as the set value compensation queue.

[0150] The steel pipe continuous rolling and cutting parameter optimization method embodiment provided by the application firstly acquires the steel pipe specification and the pipe blank temperature; then finds a target historical record from the sizing tracking database according to the steel pipe specification and the pipe blank temperature, and determines a first cutting compensation queue according to the corresponding steel pipe position according to the target historical record, wherein the sizing size data fluctuation of the target historical record is better than that of the steel pipe of the same specification in the sizing tracking database; then for each stand, the stand compensation length and a plurality of wall thickness compensation amounts are determined according to the first cutting compensation queue, and a first reduction compensation amount queue according to the time node is constructed according to the stand compensation length, the stand steel pipe outlet speed and the plurality of wall thickness compensation amounts; finally, for each first reduction compensation amount queue, a setting value compensation queue according to the time node is constructed according to the response characteristic of the corresponding stand roll gap value to the setting value. The embodiment of the application distributes the wall thickness cutting parameter to each stand by determining the wall thickness cutting compensation amount from the sizing steel pipe database, absorbs the wall thickness compensation amount by the stand, and generates the setting value compensation queue according to the response characteristic of the stand roll, so that the end of the pipe blank after the continuous rolling has the expected cutting parameter, the cutting size control is more accurate, and the yield of the seamless steel pipe is improved.

[0151] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0152] The following is the device embodiment of the application, and for details not described in detail, reference can be made to the corresponding method embodiments described above.

[0153] Figure 3 is the functional block diagram of the steel pipe continuous rolling and cutting parameter optimization device provided by the embodiment of the application, referring to Figure 3 The steel pipe continuous rolling and cutting parameter optimization device comprises a pipe blank parameter acquisition module 301, a cutting compensation parameter determination module 302, a reduction compensation amount determination module 303 and a setting value compensation amount determination module 304, wherein:

[0154] The pipe blank parameter acquisition module 301 is used to acquire the steel pipe specification and the pipe blank temperature;

[0155] The cutting compensation parameter determination module 302 is used to find a target historical record from the sizing tracking database according to the steel pipe specification and the pipe blank temperature, and determine a first cutting compensation queue according to the corresponding steel pipe position according to the target historical record, wherein the sizing size data fluctuation of the target historical record is better than that of the steel pipe of the same specification in the sizing tracking database;

[0156] The pressing-down compensation quantity determination module 303 is configured to, for each stand, determine a stand compensation length and a plurality of wall thickness compensation quantities according to the first trimming compensation queue, and construct a first pressing-down compensation quantity queue sorted according to time nodes according to the stand compensation length, the stand steel pipe outlet speed, and the plurality of wall thickness compensation quantities.

[0157] The set value compensation quantity determination module 304 is configured to, for each first pressing-down compensation quantity queue, construct a set value compensation queue sorted according to time nodes according to a response characteristic of a corresponding stand roll gap value to a set value.

[0158] Figure 4 is a functional block diagram of an electronic device provided by an embodiment of the present application. As shown in Figure 4 The electronic device 4 of the embodiment includes a processor 400 and a memory 401, and the memory 401 stores a computer program 402 which can be run on the processor 400. The processor 400 implements the steps in the above steel pipe continuous rolling trimming parameter optimization method and embodiments when running the computer program 402, for example, the steps 101 to 104 shown in Figure 1

[0159] For example, the computer program 402 can be divided into one or more modules / units, which are stored in the memory 401 and executed by the processor 400 to complete the present application.

[0160] The electronic device 4 can be a desktop computer, a notebook, a palm computer, a cloud server, and the like. The electronic device 4 can include, but is not limited to, the processor 400 and the memory 401. Those skilled in the art can understand that Figure 4 The electronic device 4 is only an example and does not constitute a limitation on the electronic device 4, and can include more or fewer components than shown, or combine certain components, or different components, for example, the electronic device 4 can also include an input / output device, a network access device, a bus, and the like.

[0161] ​The processor 400 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0162] The memory 401 can be an internal storage unit of the electronic device 4, such as a hard disk or a memory of the electronic device 4. The memory 401 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like, equipped on the electronic device 4. Further, the memory 401 can also include both the internal storage unit and the external storage device of the electronic device 4. The memory 401 is used to store the computer program 402 and other programs and data required by the electronic device 4. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0163] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0164] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can refer to the related description of other embodiments.

[0165] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0166] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / equipment and method can be implemented in other ways. For example, the apparatus / equipment embodiments described above are merely schematic, for example, the division of the modules or units is merely a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between each other can be indirect coupling or communication connection through some interface, apparatus or unit, and can be electrical, mechanical or in other forms.

[0167] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0168] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0169] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method and device embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0170] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for optimizing the tapering parameters in continuous rolling of steel pipes, characterized in that, include: Obtain the steel pipe specifications and the temperature of the raw pipe; Based on the steel pipe specifications and the raw pipe temperature, a target historical record is found from the sizing tracking database, and a first tipping compensation queue is determined according to the corresponding steel pipe position based on the target historical record. The sizing dimension data fluctuation of the target historical record is better than that of steel pipes of the same specifications in the sizing tracking database. For each rack, the rack compensation length and multiple wall thickness compensation amounts are determined according to the first tipping compensation queue. Based on the rack compensation length, the rack steel pipe exit speed, and the multiple wall thickness compensation amounts, a first pressing compensation amount queue sorted by time node is constructed, including: Multiple wall thickness variations and multiple roll gap values ​​are obtained, where each stand corresponds to one wall thickness variation and one roll gap value; For each rack, perform the following steps: Based on the first tipping compensation queue and the multiple wall thickness changes, a plurality of wall thickness compensation amounts are determined, and based on the tipping compensation length corresponding to the first tipping compensation queue, the exit wall thickness corresponding to the frame, and the multiple wall thickness compensation amounts, the frame compensation length is determined. The frame sharpening time is determined based on the frame sharpening compensation length and the corresponding exit speed of the frame; Based on the wall thickness change corresponding to the stand, the roll gap value corresponding to the stand, and the multiple wall thickness compensation amounts, multiple stand reduction compensation amounts are determined, and the multiple stand reduction compensation amounts are constructed into a second reduction compensation amount queue. Based on the number of time nodes within the frame sharpening time, the second pressing compensation queue is interpolated to obtain the first pressing compensation queue; For each first reduction compensation queue, a setpoint compensation queue is constructed based on the response characteristics of the corresponding stand roll gap value to the setpoint, sorted according to the time node.

2. The method for optimizing the steel pipe continuous rolling tapering parameters according to claim 1, characterized in that, The step of finding the target historical record from the sizing tracking database based on the steel pipe specifications and the raw pipe temperature, and determining the first tipping compensation queue sorted according to the corresponding steel pipe position based on the target historical record, includes: Multiple historical records matching the steel pipe specifications and the raw pipe temperature are found from the sizing tracking database as multiple alternative historical records; Retrieve candidate history records iteratively from the plurality of candidate history records, and perform the following steps after retrieval: Calculate the average of multiple measured wall thickness values ​​before sizing and the average of multiple measured wall thickness values ​​after sizing for the corresponding middle section of the steel pipe, respectively, as the average wall thickness before sizing and the average wall thickness after sizing. Based on the average wall thickness before sizing, a tapering compensation section is determined, wherein the deviation between the measured wall thickness data of the tapering compensation section and the average wall thickness before sizing is greater than a threshold. According to their corresponding positions, the measured wall thickness values ​​before sizing of the tapered compensation section and the measured wall thickness values ​​after sizing of the tapered compensation section are arranged to obtain the first measured wall thickness queue and the second measured wall thickness queue. The wall thickness uniformity index of sizing steel pipe is determined based on the second measured wall thickness queue and the average wall thickness after sizing, and the wall thickness uniformity index of sizing steel pipe is added to the index array. If the traversal of the multiple alternative historical records is not completed, then proceed to the step of retrieving alternative historical records from the multiple alternative historical records. Otherwise, the candidate historical record corresponding to the index with the smallest value in the index array is taken as the target historical record; A first tipping compensation queue is constructed using the first measured wall thickness queue built based on the target historical records and the average wall thickness before sizing.

3. The method for optimizing the steel pipe continuous rolling tapering parameters according to claim 2, characterized in that, The determination of the wall thickness uniformity index of the sized steel pipe based on the second measured wall thickness queue and the average wall thickness after sizing includes: The wall thickness uniformity index of the sized steel pipe is determined based on the first formula, the second measured wall thickness sequence, and the average wall thickness after sizing. The first formula is: In the formula, The uniformity index of wall thickness for sized steel pipes. The second measured wall thickness queue One data point, This represents the total number of data points in the second measured wall thickness queue. This represents the average wall thickness after sizing.

4. The method for optimizing the tapering parameters of continuous rolling mill steel pipes according to claim 1, characterized in that, The step of determining multiple wall thickness compensation amounts based on the first tapering compensation queue and the multiple wall thickness variations includes: Based on the second formula, the first tapering compensation queue, and the multiple wall thickness variations, multiple wall thickness compensation amounts are determined, wherein the second formula is: In the formula, For the first The first rack Wall thickness compensation amount For the first tipping compensation queue One data point, For the first The wall thickness variation of each rack For the first The wall thickness variation of each rack This refers to the total number of racks; The step of determining the frame compensation length based on the sharpening compensation length corresponding to the first sharpening compensation queue, the exit wall thickness corresponding to the frame, and the plurality of wall thickness compensation amounts includes: The frame compensation length is determined based on the third formula, the sharpening compensation length corresponding to the first sharpening compensation queue, the outlet wall thickness corresponding to the frame, the multiple wall thickness compensation amounts, the cross-sectional area of ​​the frame outlet steel pipe, and the cross-sectional area of ​​the final stage frame outlet steel pipe. The third formula is as follows: In the formula, For the first Individual rack compensation length, For the first The corresponding outlet wall thickness for each rack This refers to the total number of multiple wall thickness compensation amounts. This represents the sharpening compensation length corresponding to the first sharpening compensation queue. This refers to the cross-sectional area of ​​the steel pipe at the outlet of the final stage frame. For the first The cross-sectional area of ​​the steel pipe at the outlet of each rack.

5. The method for optimizing the steel pipe continuous rolling tapering parameters according to any one of claims 1-4, characterized in that, For each first reduction compensation queue, based on the response characteristics of the corresponding stand roll gap value to the set value, a set value compensation queue sorted by time node is constructed, including: For each first compression compensation queue, perform the following steps: Obtain the roll gap value response model of the corresponding stand and multiple first set value queues, wherein the roll gap value response model outputs a roll gap value queue characterizing the roll gap value fluctuation based on the set values, and the first set value queues are constructed based on multiple random numbers generated based on the roll gap values ​​of the stand; For each first set value queue, the set values ​​are extracted sequentially and input into the roll gap value response model. The outputs of the roll gap value response model are then arranged sequentially to obtain the roll gap value response queue. For each roll gap value response queue, the data in the roll gap value response queue is subtracted from the roll gap value of the stand to obtain the third reduction compensation amount queue; Based on the first compression compensation queue and multiple third compression compensation queues, determine multiple queue deviations; The multiple queue deviations are added to multiple deviation queues respectively, wherein each deviation queue corresponds to a first set value queue; If the number of iterations has not been reached, proceed with the following steps: For each first set value queue, the historical queue corresponding to the minimum value is found from the corresponding deviation queue as the historical optimal queue, and the queue corresponding to the minimum value is found from the multiple queue deviations as the global optimal queue. The first set value queue is adjusted according to the historical optimal queue and the global optimal queue. The adjusted first set value queue is used as the first set value queue. Then, the process jumps to the step of extracting the set value input into the roll gap value response model for each first set value queue, and arranging the output of the roll gap value response model in sequence to obtain the roll gap value response queue. Otherwise, the queue corresponding to the minimum value among the multiple deviation queues is selected as the globally optimal queue; The difference between the data in the global optimal queue and the roll gap value of the stand is used to obtain the set value compensation queue.

6. The method for optimizing the tapering parameters of continuous rolling mill steel pipes according to claim 5, characterized in that, The determination of multiple queue deviations based on the first compression compensation queue and multiple third compression compensation queues includes: Based on the fourth formula, the first compression compensation queue, and multiple third compression compensation queues, multiple queue deviations are determined, wherein the fourth formula is: In the formula, For queue deviation, For the first compression compensation queue One data point, For the third compression compensation queue One data point, This represents the total number of data items in the first compression compensation queue.

7. A device for optimizing the sharpening parameters of continuous rolling mill steel pipes, characterized in that, For implementing the steel pipe continuous rolling mill tipping parameter optimization method as described in any one of claims 1-6, the steel pipe continuous rolling mill tipping parameter optimization device comprises: The raw pipe parameter acquisition module is used to obtain the steel pipe specifications and raw pipe temperature; The tipping compensation parameter determination module is used to find the target historical record from the sizing tracking database according to the steel pipe specification and the raw pipe temperature, and to determine the first tipping compensation queue sorted according to the corresponding steel pipe position based on the target historical record. The sizing dimension data fluctuation of the target historical record is better than that of steel pipes of the same specification in the sizing tracking database. The compression compensation amount determination module is used to determine the frame compensation length and multiple wall thickness compensation amounts for each frame based on the first sharpening compensation queue, and to construct a first compression compensation amount queue sorted according to time nodes based on the frame compensation length, the frame steel pipe exit speed and the multiple wall thickness compensation amounts. as well as, The setpoint compensation amount determination module is used to construct a setpoint compensation queue sorted by time node for each first reduction compensation amount queue based on the response characteristics of the corresponding stand roll gap value to the setpoint.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6 above.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6 above.

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