Plate straightening machine, straightening method and control system

Abstract

The invention provides a plate straightening machine, a straightening method and a control system. The plate straightening machine, the straightening method and the control system are suitable for straightening plates with the thickness far smaller than the length and the width and with warping, wave or fluctuating deformation on the surfaces. The method comprises the steps that a to-be-straightened plate is placed on a conveying roller way and fed into a straightening area; adjusting the initial height and loading pressure of the plurality of straightening sub-modules relative to the reference plane of the plate, and realizing preliminary matching and parameter calling of the plate and the straightening component; the straightening component is controlled to be started, the plate sequentially passes through a straightening path formed by upper and lower straightening rollers which are arranged in a staggered mode, and the straightening rollers are synchronously driven to rotate; the stress of the plate in different straightening roller areas and the pose parameters of the multiple straightening sub-modules are monitored in real time, the plate is repeatedly bent forwards and backwards when passing through the straightening sub-modules, residual stress is evenly released, and straightening correction of the plate is achieved step by step. By accurately adjusting the loading pressure and the lifting height in the straightening process, the residual stress distribution on the surface of the plate and the flatness after straightening are effectively improved.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of intelligent manufacturing equipment, and particularly relates to a plate straightening machine, a straightening method and a control system. Background Art

[0002] Plate straightening equipment is widely used in industries such as metalworking and construction. Its core purpose is to eliminate residual stress and restore straightness to the plate through the staggered force applied by multiple sets of upper and lower straightening rollers. However, existing straightening technologies generally use rigid force models or empirical rules to regulate roller speed and position, ignoring the nonlinear forces and motions caused by roller eccentricity and the dynamic response of plate deformation in actual production. This results in limited straightening accuracy, and is prone to stress concentration and edge ripples in localized areas of the plate, making it difficult to meet the requirements of high-precision, high-consistency automated straightening.

[0003] Especially during the continuous straightening of high-strength, thin-walled, or special-shaped sheet metal, the real-time relative position of the sheet metal and rollers, eccentric motion, and dynamic pressure changes significantly affect the straightening effect. Traditional straightening methods lack modeling and feedback control of these complex dynamic processes, making it impossible to achieve fine adjustments to the lifting height, force distribution, and sheet metal trajectory. Therefore, a new straightening method that can sense, dynamically model, and precisely control the entire sheet metal straightening process in real time is urgently needed to further improve the straightening quality and automation level. Summary of the Invention

[0004] In response to the above-mentioned drawbacks, the present disclosure provides a plate straightening machine, straightening method, and control system. The present invention introduces standard plate points to construct an eccentric trajectory model for the relative motion of multiple upper straightening rollers, and further introduces an eccentric compensation value to calculate and model the pressure exerted on the upper surface of the plate by multiple straightening rollers during the continuous lifting and lowering process. This significantly improves the straightening consistency and force distribution control accuracy under complex working conditions, effectively suppresses local deformation fluctuations, and achieves refined control of the straightening force distribution.

[0005] One embodiment solves the problems of insufficient control over the overall straightness of warped, wavy or undulating deformed plates and uneven release of residual stress during the existing plate straightening process.

[0006] One embodiment solves the problem of being unable to obtain and feedback the force and posture status of each straightening roller in real time during the plate straightening process, and the lack of dynamic modeling and fine control.

[0007] One embodiment solves the problem of inaccurate regulation of straightening force and deformation due to the inability to accurately model the dynamic effects of the straightening roller lifting height, eccentricity, and eccentric motion pressure.

[0008] According to one aspect of the present disclosure, a plate straightening method is provided for straightening a plate having a thickness much smaller than its length and width and having warping, wavy or undulating deformation on its surface, wherein the plate straightening step comprises:

[0009] Placing the plate to be straightened on a conveyor roller, and starting the conveyor roller to convey the plate to be straightened into the straightening area;

[0010] According to the thickness, material and historical data of the plate, the initial height of multiple straightening submodules relative to the plate reference plane and the loading pressure on the plate are adjusted to achieve preliminary matching and parameter calling between the plate and the straightening components;

[0011] Control the straightening component to start, pass the fed plate to be straightened through a straightening path formed by a plurality of staggered upper and lower straightening rollers, and drive the straightening rollers to rotate synchronously;

[0012] The forces acting on the plate in different straightening roller areas and the posture parameters of multiple straightening submodules are monitored. Based on the repeated positive and negative bending deformations imposed on the plate when it passes through the multiple straightening submodules, the residual stress is evenly released and straightening correction is gradually achieved.

[0013] According to one embodiment, the preliminary matching includes: determining the mass matrix M of the plurality of alignment submodules according to the actual structural parameters and the assembly parameters. i , damping matrix C i , stiffness matrix S i .

[0014] According to one embodiment, the plate reference plane includes an upper reference plane and a lower reference plane;

[0015] The upper reference plane is the horizontal plane where the upper plane of the standard plate after straightening or the upper surface of the initial end of the plate to be straightened entering the straightening area is located, and the lower reference plane is the horizontal plane where the lower plane of the standard plate after straightening or the lower surface of the initial end of the plate to be straightened entering the straightening area is located.

[0016] According to one embodiment, monitoring the forces on the plate in different straightening roller regions and the position parameters of the plurality of straightening submodules, and gradually achieving straightening correction based on the repeated positive and negative bending deformations of the plate when passing through the plurality of straightening submodules, includes:

[0017] Acquire real-time state variables of multiple straightening submodules, including the spatial position and speed of the upper and lower straightening rollers, standard plate parameters of the plate to be straightened, and the distance between the initial end of the plate to be straightened and the initial position of the straightening zone, thereby determining the plate standard point;

[0018] Determine the parameters and output forces of multiple straightening submodules;

[0019] Based on the preliminary matching results and the output forces of multiple straightening submodules, a nonlinear dynamic equation is constructed;

[0020] According to the target solution results of the nonlinear model, the model predictive control optimization objective function is constructed;

[0021] Taking the lifting gap and target pressure of multiple straightening sub-modules as control targets, the lifting height and force of multiple straightening sub-modules are optimized in real time to improve straightening accuracy.

[0022] According to one embodiment, the step of constructing the nonlinear dynamic equation further includes determining a dynamic angle of each straightening submodule relative to a standard point of the plate.

[0023] According to one embodiment, the step of determining the parameters and output forces of the plurality of straightening submodules further comprises:

[0024] Calculate the real-time lifting height of the upper straightening roller of each straightening submodule according to the rotational angular velocity difference between the upper straightening roller and the lower straightening roller of each straightening submodule and the real-time state variable of each straightening submodule;

[0025] Further, based on the real-time lifting height, the real-time eccentricity of the upper straightening roller of each straightening submodule relative to the standard point of the plate is obtained;

[0026] Based on the real-time lifting height and real-time eccentricity of the upper straightening roller of each straightening submodule, the pressure exerted by the eccentric movement of each upper straightening roller on the reference plane of the plate is calculated.

[0027] According to one embodiment, the calculation of the pressure exerted on the reference plane on the plate by the eccentric movement of each upper straightening roller is further based on the first eccentricity compensation amount and the second eccentricity compensation amount.

[0028] According to another aspect of the present disclosure, there is provided a plate straightening control system, the control system comprising a structural parameter modeling unit and a controller;

[0029] The structural parameter modeling unit is configured to adjust the initial heights of the plurality of straightening submodules relative to the plate reference plane and the loading pressure on the plate according to the thickness and material of the plate, so as to achieve a preliminary match between the plate and the straightening component;

[0030] The controller is configured to start the conveyor roller to send the plate to be straightened into the straightening area when the plate to be straightened is placed on the conveyor roller; call the various parameters preliminarily matched by the structural parameter modeling unit; control the straightening component to start, and send the plate to be straightened through a straightening path formed by multiple upper and lower straightening rollers arranged in an staggered manner, and drive the straightening rollers to rotate synchronously; monitor the stress state of the plate in different straightening roller areas and the posture parameters of multiple straightening sub-modules, and based on the repeated positive and negative bending deformations applied to the plate when it passes through multiple straightening sub-modules, evenly release the residual stress and gradually achieve straightening correction.

[0031] According to a third aspect of the present disclosure, there is provided a plate straightening machine comprising: a conveyor roller, a straightening area consisting of a plurality of straightening submodules, an adjustment device, a drive system, and the control system as described above, for controlling the conveyor roller, the plurality of straightening submodules, the adjustment device, and the drive system respectively to achieve straightening of the plate to be straightened;

[0032] The conveying roller is used to continuously and stably convey the steel plates to be straightened into and out of the straightening area;

[0033] Among the multiple straightening submodules, each straightening submodule includes a lower straightening roller and an upper straightening roller that travels a preset distance along the direction of plate travel, the upper straightening roller is arranged on the upper part of the conveying roller, and the lower straightening roller is arranged on the lower part of the conveying roller; the upper straightening rollers and the lower straightening rollers of the multiple straightening submodules are sequentially arranged in an interlaced manner along the direction of plate travel, and are used to implement multi-point alternating bending control on the passing plate, thereby achieving residual stress equalization and straightness correction of the steel plate;

[0034] The adjustment device includes two meshing gears arranged at corresponding positions above the two ends of the roller shaft of each upper straightening roller and a screw arranged on one side of one of the meshing gears and meshing with it; each screw is connected to a first motor;

[0035] The driving system includes a third motor for driving the lower straightening rollers of the plurality of straightening submodules to rotate, and also includes a second motor for driving the upper straightening rollers of the plurality of straightening submodules to lift or lower.

[0036] In some implementations, the drive system further includes a fourth motor driving the upper straightening rollers of the plurality of straightening submodules to rotate around their respective axes.

[0037] It should be understood that this Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0039] Figure 1 A schematic diagram of a control system 100 for implementing a plate straightening method according to an embodiment of the present disclosure is shown.

[0040] Figure 2 A structural schematic diagram of a plate straightening machine according to an embodiment of the present disclosure is shown.

[0041] Figure 3 A detailed schematic diagram of multiple straightening submodules, adjustment devices and drive systems in the straightening area is shown.

[0042] Figure 4 A flow chart showing a plate straightening method 200 provided according to an embodiment of the present disclosure is shown.

[0043] Figure 5 Schematic diagram showing the synchronous rotation directions of multiple upper straightening rollers and lower straightening rollers in different situations.

[0044] Figure 6 A partial cross-sectional view of a sheet straightening machine parallel to the xy plane is shown.

[0045] Figure 7 A flow chart of a method 300 for gradually achieving straightening correction based on repeated positive and negative bending deformation of a plate when the plate passes through multiple straightening submodules according to an embodiment of the present disclosure is shown.

[0046] Figure 8 A schematic diagram showing the angle Φ1 between the axis of the first upper straightening roller and the line connecting the standard point of the plate in the xy section and the horizontal plane.

[0047] Figure 9 A flow chart of a method 400 for determining parameters and output forces of a plurality of straightening submodules according to an embodiment of the present disclosure is shown.

[0048] Figure 10 Shows a cross-section of an upper straightening roller bearing with an adhesive layer of a certain thickness.

[0049] Figure 11 A comparison is shown of the pressure distribution applied to the upper straightening roller using the two methods in the embodiments of the present disclosure and the prior art.

[0050] Figure 12 A comparison chart shows how the lifting height and eccentricity of the i-th straightening roller change with the angular velocity difference between the upper and lower rollers and time using the two methods in the embodiments of the present disclosure and the three pressure modeling methods in the prior art.

[0051] Figure 13 A comparison diagram of the three-dimensional trajectories of the horizontal and vertical offsets of standard points of three plates using two methods in the embodiment of the present disclosure and three pressure modeling methods in the prior art is shown. DETAILED DESCRIPTION

[0052] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0053] In the description of the embodiments of the present disclosure, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0054] The present disclosure uses descriptions of directions or positional relationships indicated by “upper”, “lower”, “top”, “bottom”, “front”, “back”, “inside” and “outside”, etc., which are only for the convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present disclosure.

[0055] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Perpendicular" does not strictly refer to perpendicularity, but rather to positions within an acceptable range of error. "Parallel" does not strictly refer to parallelism, but rather to positions within an acceptable range of error. The directional terms used in the following description refer to directions shown in the figures and are not intended to limit the specific structures of this disclosure.

[0056] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this disclosure depending on the specific circumstances.

[0057] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least some embodiments of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] Currently, common sheet materials in the industrial field are widely used in a variety of industries, including construction, automobiles, home appliances, machinery manufacturing, aerospace, shipbuilding, and various infrastructure. These sheet materials may include, but are not limited to, steel, aluminum, copper, stainless steel, titanium alloy, magnesium alloy, composite metal, high-strength alloy, silicon steel, and functional sheet materials based on polymer materials, ceramics, or multi-layer composite structures. These sheet materials are typically thin structures with a thickness much smaller than their length and width. Examples include cold-rolled steel, hot-rolled steel, galvanized steel, color-coated steel, stainless steel mirror panels, aluminum alloy curtain wall panels, and high-strength steel plates for containers. They are widely used in engineering applications requiring large-area coverage, lightweight construction, and high strength.

[0059] Due to the influence of processes such as raw material smelting, rolling, transportation, and storage, sheet metal is prone to various flatness defects during production and distribution, such as warping, waving, bulging, denting, edge upturning, center sagging, elliptical deformation, sickle bend, and local undulation. These deformations not only affect the accuracy and stability of subsequent processing steps (such as stamping, welding, assembly, and spraying), but also reduce the appearance quality and mechanical properties of the finished product, leading to uneven gaps, stress concentration, and even failure during assembly.

[0060] Currently, production lines, such as those disclosed in Chinese patents with publication numbers CN210305131 U and CN204194490U, primarily rely on multiple sets of straightening rollers arranged vertically (staggered or non-staggered) to achieve flatness correction of the sheet metal by applying alternating positive and negative bending forces. However, due to the wide variety of sheet metal types and varying mechanical properties, existing straightening processes struggle to balance efficiency, intelligent adaptability, and high-precision requirements. This is particularly true for ultra-thin, high-strength sheet metal, wide sheet metal, or sheet metal with unusual shapes and materials. These processes are prone to problems such as insufficient straightening, localized overstraightening, and uneven residual stress release.

[0061] To address the above issues, this paper proposes an intelligent straightening method for various types of sheet metal, whose thickness is much smaller than their length and width, and whose surface exhibits warping, wavy, or undulating deformations. This method not only dynamically adjusts the gap and pressure of each straightening submodule, adapting in real time to the thickness, material, and regional characteristics of the sheet metal, but also achieves uniform release of residual stress and efficient straightening correction across the entire width of the sheet metal through multi-point force monitoring and feedback, thereby significantly improving the overall dimensional accuracy, surface flatness, and adaptability of the sheet metal for subsequent processing. This method is particularly suitable for scenarios with high demands on sheet metal flatness in high-end manufacturing and intelligent production lines.

[0062] Figure 1A schematic diagram of a control system 100 for implementing a plate straightening method according to an embodiment of the present disclosure is shown. The control system 100 includes a controller 110 and a structural parameter modeling unit 110. The controller 110, the structural parameter modeling unit 110 and the plate straightening machine 13 are all communicatively connected. In some embodiments, the communication method may select a CAN bus or a USB data cable for physical communication connection and data transmission, or may select an IoT wireless data transmission method such as Bluetooth or Wi-Fi for communication connection and data transmission.

[0063] The structural parameter modeling unit 110 is configured to adjust the initial heights of the plurality of straightening submodules relative to the plate reference plane and the loading pressure on the plate according to the thickness and material of the plate, so as to achieve a preliminary match between the plate and the straightening component;

[0064] Regarding the controller 120, it is configured to start the conveyor roller to send the plate to be straightened into the straightening area when the plate to be straightened is placed on the conveyor roller; call the various parameters preliminarily matched by the structural parameter modeling unit; control the straightening component to start, and send the plate to be straightened through a straightening path formed by multiple upper and lower straightening rollers arranged in an alternating manner, and drive the straightening rollers to rotate synchronously; monitor the stress state of the plate in different straightening roller areas and the posture parameters of multiple straightening sub-modules, and based on the repeated positive and negative bending deformations applied to the plate when it passes through multiple straightening sub-modules, evenly release the residual stress and gradually achieve straightening correction.

[0065] In some embodiments, the controller 120 may include one or more processing units, which may be general-purpose processing units (such as central processing units CPU), special-purpose processing units (such as graphics processing units GPU, field programmable gate arrays FPGA, digital signal processors DSP, application-specific integrated circuits ASIC), etc. In addition, the controller 120 may also integrate industrial-grade embedded systems, edge computing modules, or industrial computers running operating systems. In specific application scenarios, the controller 120 may also deploy multiple virtual control units through a virtualization platform to achieve flexible resource scheduling and distributed parallel processing to meet the requirements of high-precision and high-real-time plate straightening control. In some embodiments, the controller 120 includes, for example: a parameter calling module 121, a state variable acquisition module 121, a force monitoring module 123, a dynamic equation solving module 124, and an objective function optimization module 125;

[0066] Regarding the parameter calling module 121, it is configured to call the various parameters preliminarily matched by the structural parameter modeling unit;

[0067] Regarding the state variable acquisition module 122, it is configured to acquire the real-time state variables of the plurality of straightening sub-modules and determine the standard point of the plate;

[0068] Regarding the force monitoring module 123, it is configured to determine the parameters and output forces of the plurality of straightening sub-modules;

[0069] Regarding the dynamic equation solving module 124, it is configured to construct a nonlinear dynamic equation based on the preliminary matching result and the output forces of the plurality of straightening submodules;

[0070] Regarding the objective function optimization module 125, it is configured to construct a model predictive control optimization objective function based on the target solution results of the nonlinear model; with the lifting gap and target pressure of multiple straightening sub-modules as control targets, combined with the plate area type, the lifting height and force of multiple straightening sub-modules are optimized in real time to improve the straightening accuracy.

[0071] In some embodiments, the state variable acquisition module 121 may include a first image acquisition module and a second image acquisition module.

[0072] The first image acquisition module is configured to obtain image parameters of the plane where the plate is located and the position of the plate in the plane; the x-axis position and the z-axis position

[0073] The second image acquisition module is configured to obtain the gap between the upper straightening rollers in the straightening equipment and the reference plane where the plate is located, the position of the axis, the deflection angle θ1 of the upper straightening roller, the axis position of one end of the lower straightening roller, and the deflection angle θ2 of the lower straightening roller; it is also configured to obtain the image parameters of the plate in the height direction and the coordinates of the center point position in the height direction; y-axis position. The image acquisition module can use a three-dimensional camera (such as a structured light 3D camera, a laser three-dimensional scanner, or a stereo vision camera) to obtain the three-dimensional spatial position and gap information of the plate and the straightening roller, thereby achieving accurate posture measurement and gap monitoring. In other embodiments, the image acquisition module can use an industrial CCD camera in combination with a high-brightness line laser to obtain the contour information of the plate and the straightening roller surface through laser stripe projection, thereby achieving real-time detection of key geometric parameters.

[0074] In other embodiments, the image acquisition module can utilize a multi-camera array to reconstruct the spatial relationship between the sheet and the straightening rollers through multi-angle image fusion, enhancing detection capabilities in complex geometries and obstructed environments. The image acquisition module can also collaborate with encoders or laser displacement sensors along the sheet transport path to form a comprehensive detection solution that integrates multi-source data, further improving alignment accuracy and automation.

[0075] Figure 2 A structural schematic diagram of a plate straightening machine according to an embodiment of the present disclosure is shown. Figure 2 The plate straightening machine according to the embodiment of the present disclosure includes: a conveying roller 1, a straightening area 2 composed of a plurality of straightening submodules, an adjustment device 3, a drive system and Figure 1 The control system shown is used to control the conveying roller, multiple straightening sub-modules, adjustment devices and drive systems respectively to achieve straightening of the plate to be straightened;

[0076] Figure 2 The plate straightening machine shown is located in a three-dimensional coordinate system, with conveyor rollers 1 arranged on the left and right sides of the straightening area 2. The conveyor rollers 1 convey the plate from left to right into the straightening area 2. The plate passes through a plurality of upper straightening rollers and lower straightening rollers staggered left and right along the direction of travel of the plate in the plurality of straightening submodules in the straightening area 2, and is subjected to multi-point alternating bending control to equalize the residual stress of the plate and correct the entire plate to a standard straight state. The plate is then conveyed to the conveyor roller 1 on the right side of the straightening area 2 and conveyed to the straightening finished product inspection area or the straightened plate collection area for temporary storage. The left and right direction in which the plate is conveyed is set as the x-axis direction, the direction in which the upper straightening rollers 21 in the plurality of straightening submodules move up and down is set as the y-axis direction, and the roller length direction of the upper straightening rollers and the lower straightening rollers is set as the z-axis direction, that is, the direction perpendicular to the xy plane is set as the z-axis direction. In some embodiments, the xz plane is optionally the horizontal plane formed by the contact points between the multiple conveyor rollers and the sheet when the sheet is conveyed by the conveyor roller 1. This horizontal plane coincides with the horizontal plane at the highest points of the multiple lower straightening rollers 21 in the straightening zone 2. In other embodiments, the xz plane is the lower plane of the standard sheet after straightening. The xz plane is the lower reference plane. The horizontal plane raised a certain height from the xz plane along the y-axis is the upper reference plane. In some embodiments, the raised height is the distance between the upper plane of the standard sheet after straightening and the lower plane of the standard sheet, that is, the thickness of the standard sheet. In other embodiments, the upper reference plane is the horizontal plane at the upper surface of the initial end of the sheet to be straightened entering the straightening zone.

[0077] Figure 3 A detailed schematic diagram of multiple straightening submodules, adjustment devices and drive systems in the straightening area is shown. Figure 3 The straightening area shown includes a lower straightening roller 21 located below the lower reference plane and an upper straightening roller 22 located above the upper reference plane. The upper straightening roller 22 is spaced a certain horizontal gap G from the lower straightening roller along the x-axis. The first lower straightening roller 21 and the first upper straightening roller 22 form a straightening submodule. Multiple straightening submodules are spaced a certain horizontal distance apart along the x-axis. In some embodiments, the horizontal distance between the multiple straightening submodules along the x-axis is the horizontal gap G, and the upper straightening rollers and lower straightening rollers of the multiple straightening submodules are sequentially staggered along the direction of plate travel. In other embodiments, the horizontal distance between the multiple straightening submodules along the x-axis is greater than the horizontal gap G or less than the horizontal gap G. Figure 3 The total number of upper straightening rollers within the straightening zone shown is less than the total number of lower straightening rollers.

[0078] In some further embodiments, the upper straightening roller 22 in each straightening submodule is located to the left of the lower straightening roller 21 in the submodule in the x-axis direction. At this time, the total number of upper straightening rollers in the straightening area is greater than the total number of lower straightening rollers.

[0079] In some embodiments, the adjusting device 3 includes two meshing gears 31 provided at corresponding positions above the roller shafts of each upper straightening roller 21, and a screw 32 provided on one side of one of the meshing gears 31 and meshing with the same; each screw 32 is connected to a first motor 33; in some embodiments, the screw 32 is provided with a screw 32 only on the surface where it connects with the two meshing gears 31. Figure 3 The threads shown are sufficient to adjust the corresponding length of the lifting height. In other embodiments, the entire rod surface of the screw rod 32 is provided with threads that mesh with the two meshing gears 31.

[0080] The screw 32 is driven to rotate by the rotation of the first motor 33, and the screw 32 drives the meshing gear 31 engaged therewith to rotate counterclockwise or clockwise in a horizontal plane parallel to the xz plane, thereby realizing the position of the hexagonal clamping nut 34 on the lifting rod 35. In some embodiments, the top end of the lifting rod 35 is connected to the output end of the second motor (not shown in the figure), and the second motor drives the upper straightening roller 21 to lift or lower up and down along the y-axis direction. In other embodiments, the axis direction of each upper straightening roller is connected to a fourth motor belonging to the drive system 4 through a bearing, and the fourth motor drives each upper straightening roller to rotate around its own axis, and then, driven by the second motor and the fourth motor, each upper straightening roller 21 will move relative to the to-be-straightened roller. The corresponding standard points of the plate to be straightened are subjected to eccentric movement, and a tangential sliding driving force or a tangential sliding resistance is applied to the upper reference plane of the plate to be straightened while a normal pressure is applied (applied to the upper surface of the plate to be straightened downward along the y-axis) and then combined with the lower straightening roller 22 belonging to the same straightening sub-module, the lower surface of the plate to be straightened contacts the upper straightening roller, so as to realize the downward bending or upward bending of the plate to be straightened and realize the reverse bending (i.e., bending deformation in the opposite direction of the initial bending); when the upper straightening roller descends downward and the mutual contact with the lower straightening roller is completed, when it is lifted upward, the external force applied to the plate to be straightened is removed, and the plate produces elastic recovery deformation under the action of the inner lining, and reaches a new balance when it reaches the inner lining, thereby being straightened. The multiple straightening sub-modules in the straightening area 2 are arranged at a certain horizontal distance, and then the multiple upper straightening rollers and the multiple lower straightening rollers are arranged in sequence and staggered, forming multiple bending points for the plate to be straightened passing horizontally in the xz plane. When the plate passes through these straightening rollers, it will simultaneously move in the horizontal direction and intermittently squeeze and unload in the vertical direction, and realize the reverse bending force and internal force of elastic recovery deformation in different directions and sizes in real time. Through the control system 100 of the multiple straightening sub-modules, the lifting height of the upper straightening roller and the normal pressure applied downward are adjusted in real time, so that the relative residual curvature of the initial bending of each part of the plate to be straightened after rebound is 0, the residual stress is evenly released, and the straightening correction is gradually achieved.

[0081] In some embodiments, the drive system 4 includes a gear set that drives the lower straightening rollers 21 of the plurality of straightening submodules to rotate. The gear set includes a first gear 41 provided at one end of each lower straightening roller 21 and a plurality of second gears 42 provided below the plurality of first gears 41. Every two first gears 41 are meshed with the same second gear 42 below. The drive system 4 also includes a third motor (not shown in the figure) that drives the plurality of second gears 42 to rotate. The number of the third motor can be one or a third motor is connected to the outside of the direction of the axis of each second gear 42 through a bearing (the output end of the third motor is connected to the axis of each second gear 42 through a bearing). In this case, the second gear 42 is the driving wheel and the first gear 41 is the passive gear.

[0082] In other embodiments, the drive system includes only a first gear 41 disposed on the outer side of one end of each lower straightening roller. Only one third motor is required and connected to the shaft of the first gear 41 at the initial or final end to achieve the rotation of multiple lower straightening rollers in multiple straightening sub-modules about their respective axes. In this case, the first gear 41 serves as the driving gear. It should be noted that none of the gears in the gear set in the drive system 4 contacts either side of the steel plate to be straightened passing through the straightening zone 2.

[0083] In some other embodiments, the driving system 4 may only include a third motor arranged in the axial direction of each lower straightening roller 21. In this case, there are multiple third motors, and each third motor drives the lower straightening roller at the same or different speeds.

[0084] In order to improve the ability of multiple straightening sub-modules to quickly adapt to different plate structures in the initial state, the structural parameter modeling unit 110 included in the control system 100 disclosed in the present invention is used to dynamically model and identify the key mechanical characteristics of each sub-module based on historical structural data, assembly parameters and operating status feedback.

[0085] This unit collects the response data of the straightening submodule during the no-load startup and loaded pressure test process. In some embodiments, the following structural identification relationship is constructed by combining the known assembly stiffness, upper and lower straightening roller types, material properties and vibration feedback:

[0086]

[0087] Among them, M i 、C i and K i is the equivalent mass matrix, equivalent damping matrix and equivalent stiffness matrix of the i-th straightening submodule; is the initial lifting height of the upper straightening roller in the ith straightening submodule, is the acceleration response of the straightening plate in the initial loading phase of the ith straightening submodule, is the estimated natural frequency of the i-th straightening submodule squeezing the plate to be straightened up and down, τ i is the damping time constant of the ith straightening submodule, is the vibration attenuation rate of the i-th straightening submodule; ΔF ci k is a parameter that reflects the dynamic force variation of the straightening submodule, and is often used to characterize the actual value of the force amplitude attenuation or dissipated energy caused by damping; i,obs is the observed elastic slope of the ith straightening submodule relative to the plate to be straightened, is the displacement response of the ith straightening submodule relative to the plate to be straightened, θ iis the eccentric angle correction term of the upper straightening roller axis of the i-th straightening submodule relative to the standard point of the plate. f1(), f2() and f3() are respectively used to construct the mass matrix M i , damping matrix C i , rigidity matrix (or stiffness matrix) K i These functions output the equivalent mass, equivalent damping coefficient and equivalent stiffness of the straightening submodule according to their respective input specific physical or observation parameters.

[0088] In other embodiments, the x-axis coordinate x of the axis center of one end of the i-th upper straightening roller in the i-th straightening submodule obtained by the state variable acquisition module 121 is u,i , y-axis coordinate y u,i The x-axis coordinate x of the axis of one end of the i-th lower straightening roller (the same as the axis coordinate position collection end of the i-th upper straightening roller) d,i , y-axis coordinate y d,i , get the state coordinate matrix G of the i-th straightening submodule i =[x u,i y u,i x d,i y d,i ] T , construct the kinetic energy balance equation of the i-th straightening submodule:

[0089]

[0090] and is the derivative of the corresponding parameter with respect to time, that is The real-time speed of the x-axis or y-axis of the axis of one end of the i-th upper straightening roller, The real-time speed of the x-axis or y-axis of the axis of one end of the i-th lower straightening roller, x u,i is x u,i (t), the rest of the parameters follow the same writing rules and will not be described here; m u,i is the mass of the ith upper straightening roller (including components such as the bracket); m d,i is the mass of the i-th lower straightening roller (including components such as driving gears and brackets); the mass matrix M i The second-order derivative of the kinetic energy T with respect to the generalized velocity is used to solve the equation for the mass matrix of the i-th straightening submodule:

[0091]

[0092] is the state rate matrix of the i-th straightening submodule;

[0093] Then we can get the mass matrix M of the ith straightening submodule i:

[0094] For the damping term ci in the damping matrix of the i-th straightening submodule, it is often derived from the friction dissipation caused by the speed difference between the upper and lower straightening rollers when they act on the upper and lower surfaces of the straightening plate. It can be assumed that the equivalent viscous damping c i Simultaneously act on the x-vector and y-vector of the i-th straightening submodule (i.e., simultaneously act on G i Each vector in the matrix), construct the damping function of the i-th straightening submodule:

[0095]

[0096] Damping matrix C i The damping matrix of the i-th straightening submodule is solved by taking the second-order derivative of the damping function Damp with respect to the generalized velocity:

[0097]

[0098] Then we can get the damping matrix C of the i-th straightening submodule i :

[0099] For the stiffness coefficient k of the i-th straightening submodule i , by constructing a symmetrical coupled stiffness model:

[0100]

[0101] The symmetrical coupled stiffness model is used to describe the elastic potential energy and restoring force matrix of the structure after being subjected to stress; the stiffness matrix K i The second-order derivative of the damping function V with respect to the generalized position vector is used to solve the stiffness matrix of the i-th straightening submodule:

[0102]

[0103] Then we can get the stiffness matrix K of the i-th straightening submodule i :

[0104] The structural parameter modeling unit 110 collects and updates the structural parameter change trends of each straightening submodule under multiple rounds of operation conditions in real time through statistical regression analysis and machine learning assisted modeling (such as support vector regression SVR, Bayesian regression BR and other algorithms). Specifically, after each straightening task is completed, the module automatically collects historical data such as the vibration response, residual displacement, and load force-displacement relationship of the straightening submodule, and inputs the characteristic parameters closely related to mass, damping, and stiffness into the modeling algorithm through the set feature extraction method to realize the dynamic identification of the physical properties of each submodule. The equivalent mass matrix M outputted thereby is i , damping matrix C i , stiffness matrix K i , which not only reflects the current structural assembly status, but also adapts to parameter drift caused by wear, looseness or plate differences.

[0105] Furthermore, the structural parameter identification and modeling unit uses historical data combined with online real-time monitoring information to provide early warning of abnormal fluctuations in each submodule's structural parameters. For submodules experiencing significant parameter changes, the system automatically triggers regression analysis and model resetting, ensuring continuous and stable parameter inputs throughout the alignment system and safeguarding the long-term effectiveness of the dynamic model and subsequent control strategies.

[0106] By introducing this modeling unit, the system can automatically adapt to the characteristics of plates of varying thickness and material, intelligently adjusting the motion characteristics and mechanical response of each submodule. This significantly improves the adaptive capabilities and physical modeling accuracy during plate straightening, providing a stable and reliable foundation for dynamic modeling and multi-objective control optimization. This unit not only optimizes straightening accuracy and equipment lifespan, but also provides accurate historical data and analysis results for intelligent system upgrades and big data analysis, which can be used to directly provide corresponding structural equipment parameters for subsequent control system modeling.

[0107] Figure 4 A flow chart illustrating a plate straightening method 200 according to an embodiment of the present disclosure is shown. In some embodiments, the conveyor rollers in step 202 can utilize an automated conveyor belt structure, with variable-frequency motors regulating speed to ensure that the plates enter the straightening zone evenly and slowly, preventing initial misalignment of the plates upon entry. In other embodiments, the plates can be conveyed and positioned by a robotic arm, suitable for large, heavy, or easily deformed plates, ensuring alignment of the plate ends with the straightening zone.

[0108] In some embodiments, the preliminary matching of step 204 is performed by the structural parameter modeling unit 110, which determines the mass matrix M of the plurality of alignment submodules based on the actual structural parameters and the assembly parameters. i , damping matrix C i, stiffness matrix S i The data is stored locally or transmitted to the controller 120 with a storage medium, or uploaded to the cloud. The controller 120 or the parameter calling module 121 therein can directly download the parameters from the cloud for subsequent calculation and solution of control commands.

[0109] In some embodiments, the start-up of the straightening component controlled in step 206 may be such that the start-up sequence of the plurality of straightening submodules in the straightening zone 2 may be automatically controlled in sections according to the length of the plate, to prevent one end of the plate from entering the straightening zone too early and causing uneven force. In other embodiments, the synchronous rotation of the plurality of upper straightening rollers and the plurality of lower straightening rollers in the straightening zone 2 may adopt a servo motor closed-loop control system to ensure that the rotation speed of each roller matches the plate feed speed to avoid slipping and damage. In yet other embodiments, the staggered arrangement of the upper and lower straightening rollers may be dynamically adjusted according to the deformation type of the plate, such as by changing the arrangement spacing of the rollers and the angle of entry of the rollers to adapt to different waves or warping deformations.

[0110] The rotation direction of each pair of upper and lower straightening rollers can be the same or different. Figure 5 Schematic diagram showing the synchronous rotation directions of multiple upper straightening rollers and lower straightening rollers in different situations.

[0111] In some embodiments, as shown in the figure, the straightening area of ​​the straightening machine includes multiple upper straightening rollers and lower straightening rollers. During the straightening process, the plate contacts the upper and lower straightening rollers respectively, thereby achieving multi-point repeated bending correction. The rotation direction and rotation speed of each upper straightening roller can be independently controlled, denoted as angular velocity ω 1,i The rotation direction and speed of each lower straightening roller can also be controlled independently, which is recorded as angular velocity ω 2,i Correspondingly, the tangential linear speeds generated by the upper and lower straightening rollers in each straightening submodule on the upper and lower surfaces of the plate are v 1,i and v 2,i .

[0112] In some embodiments, under different straightening process conditions, the rotation directions and speeds of the upper and lower straightening rollers can be combined to form a variety of operating modes, including but not limited to the following three situations:

[0113] Figure 5 (a) shows the situation where both the upper straightening roller and the lower straightening roller rotate clockwise. Figure 5 (b) shows that both the upper straightening roller and the lower straightening roller rotate clockwise. Figure 5 (c) shows that the upper straightening rollers all rotate clockwise and the lower straightening rollers all rotate counterclockwise.

[0114] exist Figure 5In the case shown in (a), the horizontal driving force applied by the upper and lower straightening rollers to the sheet is directed in the same direction of travel of the sheet. To ensure that the sheet is transported stably along the direction of travel (i.e., from left to right in the figure), it is usually necessary to set the linear speed of the lower straightening roller to be greater than the linear speed of the upper straightening roller, i.e., ω 2,i >ω 1,i (That is, at this time v 2,i >v 1,i ). This helps prevent the sheet from slipping or localized buildup in the straightening area. Figure 5 (b) shows the case where the upper and lower straightening rollers rotate in opposite directions, applying opposite tangential velocities v to the upper and lower surfaces of the plate. 1,i and v 2,i In this case, since the driving force of the upper and lower rollers on the plate is in opposite directions, it is only necessary to reasonably adjust ω 1,i and ω 2,i The size of the plate can keep stable movement under the balance of driving force, without strict 2,i With ω 1,i The size order is required, but the difference between the two will affect the speed and friction of the plate. Figure 5 (c) shows that the rotation directions of the upper straightening roller and the lower straightening roller are still opposite, but Figure 5 (a) shows the opposite direction. To ensure that the plate continues to move forward, the linear speed of the upper straightening roller needs to be greater than that of the lower straightening roller, that is, ω 1,i >ω 2,i (That is, at this time v 1,i >v 2,i ) to prevent the plate from being dragged backward by the lower straightening roller. Figure 5 The gaps between the multiple lower straightening rollers and the lower surface of the plate are only for clearly showing the speed direction and influence of the rotation of the lower straightening rollers on the lower reference plane of the plate.

[0115] In some embodiments, the rotational angular velocity of the upper and lower straightening rollers can be adjusted in real time by a control system based on the type and thickness of the plate, as well as the required residual stress release, thereby achieving adaptive optimization of plate movement speed and straightening accuracy. By combining these various rotation modes and speeds, the straightening equipment's adaptability and straightening quality for plates of varying specifications can be effectively improved, reducing the risk of plate damage and surface defects caused by abnormal friction or speed mismatch.

[0116] In addition, the control system can also combine the real-time position, speed and stress feedback of the plate on the straightening path to achieve dynamic closed-loop control of the speed and direction of each pair of straightening rollers, thereby ensuring stable transportation and high-precision leveling of the plate throughout the straightening process.

[0117] The above three cases are cases where the rotation direction of each upper straightening roller is the same and the rotation direction of each lower straightening roller is the same. In other embodiments, the rotation direction of each straightening roller may be different and the rotation direction of each lower straightening roller may also be different, but it is necessary to ensure that the sum of the tangential velocities ∑ applied by the multiple straightening submodules to the upper reference plane of the plate is i v 1,i The sum of the tangential velocities applied to the lower reference plane ∑ i v 2,i Perform summation with direction signs (i.e. ∑ i v 1,i ±∑ i v 2,i ) to ensure that the total velocity direction is towards the direction of travel of the plate. It should be clear that the sum of the tangential velocity applied to the upper reference plane ∑ i v 1,i The calculation process also requires the direction symbol to be added, and the sum of the tangential velocity applied to the lower reference plane ∑ i v 2,i Set the direction of movement with the plate target as + and the direction opposite to the plate target as -.

[0118] although Figure 4 The various steps shown in the embodiment perform the corresponding functions of the performance recommendation method in a specific order, but it can be understood that Figure 4 The steps in the method 200 may be performed in a different order relative to the order shown. For example, two or more steps shown in succession may be performed simultaneously or some steps may be performed simultaneously. In addition, certain steps in the method 200 may also be omitted.

[0119] Additionally, other steps can be added to Figure 4 It will be understood that all such variations are within the scope of the present disclosure.

[0120] Figure 6 A partial cross-sectional view of a sheet straightening machine parallel to the xy plane is shown. Figure 6 The xz plane where line P1 is shown is the plane along which the sheet is conveyed by the conveyor rollers. It is also the horizontal plane where the lowest point of the xy-plane cross-section of the sheet to be straightened is located (i.e., the horizontal plane where the lower surface of the initial end of the sheet to be straightened enters the straightening zone is located). It is also the horizontal plane parallel to the xz plane where the highest points of the multiple conveyor rollers in the conveyor rollers are located. In some embodiments, the horizontal plane where line P1 is located (i.e., the plane parallel to the xz plane) is the lower reference plane. Line P1 is also the plane where the lower surface of the sheet after straightening in the straightening zone 2 is located. Generally, the lower reference plane is flush with the roller planes of the lower straightening rollers of the multiple straightening sub-modules in the straightening zone.

[0121] In some embodiments, the xz plane where the P2 line is located is the horizontal plane where the lowest point of the xy plane cross-sectional shape of the plate to be straightened is located (that is, the horizontal plane where the upper surface of the initial end of the plate to be straightened entering the straightening area is located), and the horizontal plane where the P2 line is located (that is, the plane parallel to the xz plane) is the lower reference plane.

[0122] Figure 6 The vertical distance between the P2 line and the P1 line in the y-axis direction is the maximum plate thickness allowed to pass through. Figure 6 The point Q4 of the lowest roller surface of the fourth upper straightening roller from left to right shown in the figure is the horizontal plane where the initial lowest roller surfaces of multiple straightening rollers in the straightening area 2 are located, that is, the initial positions of the lowest roller surface Q1 of the first upper straightening roller, the lowest roller surface Q2 of the second upper straightening roller, and the lowest roller surface Q3 of the third straightening roller are level with Q4 in the y-axis direction. Figure 6 Q1, Q2, and Q3 shown in the figure are the state points of the lowest roller surfaces of the corresponding straightening rollers that are controlled by the control system 100 to start straightening. In some embodiments, the distance between the cross-sectional display line P3 corresponding to the horizontal plane parallel to the xz plane where Q4 is located and the line P2 is the initial lifting height H of each straightening roller. i In other embodiments, Figure 6 The vertical distances from the horizontal plane parallel to the xz plane to the horizontal plane where the line P2 is located are the lifting heights h1 (the first straightening roller lifting height), h2 (the second straightening roller lifting height), and h3 (the third straightening roller lifting height) of the corresponding straightening rollers. When there are multiple straightening rollers in the straightening area 2, the upper straightening roller corresponding to the i-th straightening submodule is the i-th upper straightening roller, and its lifting height is h i .

[0123] Figure 7 A flow chart of method 300 is shown for monitoring the forces on the plate in different straightening roller areas and the posture parameters of multiple straightening submodules according to an embodiment of the present disclosure, and gradually achieving straightening correction based on the repeated positive and negative bending deformation when the plate passes through multiple straightening submodules.

[0124] In step 302, the state variable matrix X of the straightening module is constructed based on the posture parameters of each straightening submodule in the straightening area obtained by the state variable acquisition module 121. i :

[0125] In step 304, in some embodiments, the distance between the initial end of the plate to be straightened and the initial position of the straightening zone obtained by the state variable acquisition module 121 can be used to further obtain the real-time position of the standard point of the plate (x ref (t),y ref (t)), xref (t), y ref (t) are the x-axis and y-axis coordinates of the standard point of the plate in the above-mentioned three-dimensional coordinate system respectively; in some embodiments, the standard point of the plate is the plate specifications (x-axis, y-axis and z-axis coordinates and then the length, width and height profile of the plate calculated) obtained according to the image parameters or initial position parameters of the plate to be straightened obtained by the state variable acquisition module 121, and the standard plate parameters of the plate to be straightened are obtained, as well as the distance between the initial end of the plate to be straightened and the initial position of the straightening area, and the center point of half the length and width of the standard plate further calculated, or the real-time position coordinates of a fixed point on the plate, such as the four three-sided intersection points of the standard plate.

[0126] In other embodiments, according to the initial position of the standard point of the plate obtained, that is, (x ref (t),y ref (t)), that is, the initial position of the standard point of the plate is (x ref (0),y ref (0)), and based on the distance between the initial end of the plate and the initial end of the straightening area for the plate to be straightened to enter, the real-time position of the axis position of the i-th upper straightening roller in the xy section and the standard point of the plate is calculated, and the real-time dynamic angle Φ between the axis position of the i-th upper straightening roller and the real-time position of the standard point of the plate compared to the xz plane is calculated. i (t):

[0127]

[0128] ; Figure 8 The figure shows the angle Φ1 (Φ1 is the abbreviation of Φ1(t)) between the line connecting the axis of one end of the first upper straightening roller and the center point of half the length and width of the standard plate as the standard point of the plate in the xy section and the section line P4 of the horizontal plane where the standard point of the plate is located and the xz plane.

[0129] In step 304, the pressure F generated by the ith upper straightening roller on the reference plane of the plate due to its eccentric motion relative to the standard point of the plate is determined. ve,i , the pressure F exerted by the i-th upper straightening roller on the reference plane of the plate during the lifting or lowering process due to the drive of the second motor servo,i The horizontal driving force F in the x-axis direction applied by the i-th lower straightening roller to the plate on the lower reference plane according to the walking path due to the first motor driving drive,i In some embodiments, it is also necessary to determine the pressure F generated by the eccentric motion on the reference plane of the plate. ve,i Horizontal friction force F generated with the upper reference plane ta,i , and then we get the force vector matrix F i :

[0130]

[0131] Where g is the acceleration due to gravity; F ta,i =μ i F ve,i , μ i is the friction coefficient between the ith upper correction roller and the reference plane on the plate; according to the different plate materials and the materials of the straightening roller, μ i The values ​​of are shown in Table 1.

[0132] Table 1

[0133] Plate material Straightening roller material <![CDATA[Coefficient of friction μ i Range]]> carbon steel 45# steel 0.12～0.20 carbon steel Polyurethane (PU) 0.25～0.35 Stainless steel 45# steel 0.13～0.22 Stainless steel Polyurethane (PU) 0.28～0.38 aluminum alloy 45# steel 0.15～0.20 aluminum alloy Polyurethane (PU) 0.35～0.45 galvanized sheet 45# steel 0.10～0.16 galvanized sheet Polyurethane (PU) 0.20～0.28 copper plate 45# steel 0.20～0.25 copper plate Polyurethane (PU) 0.40～0.50

[0134] F servo,i 、F drive,i The parameters of the second motor and the third motor can be obtained by the state variable acquisition module 121.

[0135] M motor2,i M is the output torque of the second motor driving the i-th upper straightening roller (unit: N·m), that is, the torque applied during the process of lifting or lowering the upper straightening roller; motor3,i R is the output torque of the third motor corresponding to the i-th lower straightening roller (unit: N·m), that is, the torque applied by the lower straightening roller to drive the plate to move in the horizontal direction (x-axis). u,i R is the roller radius of the i-th upper straightening roller (unit: m), which is used to convert the motor output torque into the linear pressure of the upper straightening roller on the plate. d,i is the roller radius of the i-th lower straightening roller (unit: m), which is used to convert the motor output torque into the linear driving force of the lower straightening roller acting on the plate.

[0136] In step 306, the mass matrix Mi and damping matrix C are preliminarily matched according to the structural parameter modeling unit 110. i and the stiffness matrix S i , and the force vector matrix F obtained by the output force of multiple straightening submodules i , construct the nonlinear dynamic equation:

[0137]

[0138] In step 308, in some embodiments, the target solution of the nonlinear model is the lifting distance target of the i-th upper straightening roller under dynamic control. Dynamic target pressure Construct the following model predictive control optimization objective function J(t):

[0139]

[0140] Among them, τ is the initial time when the control system is started, T is the length of a control cycle; D1 and D2 are the first weight factor and the second weight factor, respectively, which represent the lifting distance h i The control adjustment accuracy of (t) is related to the pressure F generated by the ith upper straightening roller on the reference plane of the plate due to its eccentric motion relative to the standard point of the plate. ve,i The relative trade-off of regulation accuracy;

[0141] In step 310, during the process of optimizing the lifting height and force of multiple alignment submodules in real time, the control vector matrix U is outputted by optimizing. i (t), and then adjust the state variable matrix X of the straightening module in real time i The control state matrix Z i , the optimized space equation is:

[0142]

[0143] Among them, A is the control state coefficient matrix, B is the output control vector coefficient matrix;

[0144] The actual angular velocity difference between the i-th upper straightening roller and the i-th lower straightening roller in each straightening submodule (i.e. as a group or as a straightening submodule) applied to the plate, is the difference or sum of the rotational angular velocities of the ith upper straightening roller and the ith lower straightening roller in each straightening submodule; in some embodiments,

[0145]

[0146] θ 1,i is the real-time deflection angle of the ith upper straightening roller, is the real-time deflection angular velocity of the ith upper straightening roller, which can also be expressed as ω 1,i Indicates; θ 2,i is the real-time deflection angle of the i-th lower straightening roller, is the real-time deflection angular velocity of the ith lower straightening roller, which can also be expressed as ω 2,i Indicates; β i is the angle between the straight line segment P5 connecting the axis of the roller shaft of the i-th upper straightening roller and the axis of the roller shaft of the i-th lower roller and the horizontal direction of the plate, Figure 5 The figure shows the distance d between the roller axis centers of two adjacent upper straightening rollers when the roller axis centers of the upper straightening rollers are in the same horizontal plane in the initial state (i.e. Figure 5 The green line segment in the figure), and the line segment P5 in the initial state (i.e. Figure 5 As the upper straightening roller is lifted and lowered, the distance P5 is increased due to the lifting height h of each upper straightening roller.i (t) changes, therefore, ignoring the small gap changes in the vertical direction between the contact points of the lower straightening roller and the uneven lower surface of the plate to be straightened,

[0147]

[0148] ; In some embodiments, due to the different rotation directions of the upper straightening roller and the lower straightening roller, different rotation direction factors are generated for the rotation speed difference between the two. h is the thickness of the plate in the y-axis direction (i.e., the thickness of the plate is much smaller than its length and width). Figure 5 (a) (also Δω i =ω 2,i -ω 1,i );for Figure 5 (b) (also Δω i =ω 2,i +ω 1,i ));for Figure 5 (c) (also Δω i =ω 1,i -ω 2,i In some other embodiments, when the plate straightening machine does not include a fourth motor for driving the upper straightening roller to rotate around its own axis, ω 1,i =0, that is In this case, the plate straightening machine cannot achieve Figure 5 (c) The working state shown.

[0149] The real-time rolling optimization control strategy is as follows:

[0150]

[0151] h i (t)≥h min (19)

[0152] F ve,i (t)≤F max (20)

[0153] That is, the three constraints after st (abbreviation of subject to): h i (t)≥F min and F ve,i (t)≤F max Under the constraint of i Output control vector when (t) is minimum The controller of the control system 100 outputs and controls the real-time process and action of the plate straightening machine. min F is the minimum gap between the upper straightening roller and the upper reference surface to prevent excessive force on the plate; max It is the maximum threshold of the pressure exerted by the upper straightening roller on the upper reference plane of the plate due to the eccentric motion.

[0154] Figure 9 A flow chart of a method 400 for determining parameters and output forces of a plurality of straightening submodules according to an embodiment of the present disclosure is shown.

[0155] In step 402, the rotation angle difference Δθ between the upper straightening roller and the lower straightening roller of each straightening submodule is calculated. i (t), and the real-time state variables of each straightening submodule, calculate the real-time lifting height h of the upper straightening roller of each straightening submodule i (t);

[0156]

[0157] In step 404, the real-time lifting height h of the upper straightening roller of each straightening submodule is determined. i (t), get the real-time position of the upper straightening roller of each straightening submodule relative to the standard point of the plate (x ref (t),y ref Real-time eccentricity (t):

[0158]

[0159] In step 406, based on the real-time lifting height and real-time eccentricity of the upper straightening roller of each straightening submodule, the pressure F exerted by the eccentric movement of each upper straightening roller on the reference plane of the plate is calculated. ve,i :

[0160]

[0161] Δω i,eff That is ∈ i (t) abbreviation, L i is the length of the i-th upper straightening roller along the z-axis; η i is the equivalent viscosity coefficient of the contact interface between the i-th upper straightening roller and the plate, and its unit is usually Pa·s (Pa·second) or N·s / m 2 η i This describes the equivalent damping effect caused by microscopic slip and frictional dissipation between the upper straightening roller and the sheet. It determines the system's dissipative capacity per unit velocity or angular velocity difference. Table 2 lists the values ​​for some cases where the upper straightening roller, the adhesive layer outside the upper straightening roller shaft, and the sheet are made of different materials.

[0162] Table 2

[0163] Plate material Straightening roller material Surface condition Friction coefficient ηi range steel Plain carbon steel plate Dry and unlubricated 500～1500 steel stainless steel plate Dry and unlubricated 700～2000 steel aluminum plate Dry and unlubricated 400～1200 Steel + rubber coating aluminum plate Dry and unlubricated 800～2500 steel Plain carbon steel plate With lubricant 100～400 Steel + polyurethane coating Aluminum or copper plate Dry and unlubricated 1500～3500 Stainless steel stainless steel plate With lubricant 200～800 Ceramics (or carbide) Various metal plates Dry and unlubricated 300～900 steel Plain carbon steel plate With lubricant 100～400

[0164] Note: The above data are empirical values ​​at room temperature (20-25°C). In actual application, they can be further refined through experimental calibration or according to relevant engineering manuals.

[0165] In some embodiments, η in the eccentric pressure modeling formula i (viscosity coefficient) and the damping matrix C of the dynamic system i The damping coefficient c in i In physical terms, they are related and consistent, and are used to describe the energy dissipation capacity caused by the relative motion between the roller and the plate. The system can collect and identify historical operation data through the structural parameter modeling unit to obtain Ci or equivalent η i , and then used uniformly for dynamic modeling, local pressure response, and MPC control target optimization. In practical applications, the two values ​​can be equivalently mapped through experimental calibration or multi-physics simulation to ensure the physical consistency and engineering applicability of the model.

[0166] Figure 10 Shows a cross-section of an upper straightening roller bearing with an adhesive layer of a certain thickness.

[0167] R u,i is the radius of the roller shaft of the i-th upper straightening roller, R r,i The i-th upper straightening roller has an outer adhesive layer ( Figure 10 The shaded area in the figure is the radius of the cross-section of the outer adhesive layer, that is, the thickness of the cross-section ring in the xz plane (the difference between the outer and inner radii of the ring), R r,i With R u,i All are in the same circular section of the straightening roller, R r,i =R u,i +H Ad , H Ad is the vertical thickness of the adhesive layer in the circular cross section.

[0168] In other embodiments, when calculating the pressure F exerted by each eccentric movement of the straightening roller on the reference plane of the plate, ve,i In order to improve the physical accuracy and dynamic response consistency of the eccentric motion pressure modeling of the upper straightening roller, the first eccentricity compensation E1 (∈ i ) and the second eccentricity compensation E2(∈ i ), at this time F ve,i as follows:

[0169]

[0170] Introducing the first eccentricity compensation E1(∈ i ) and the second eccentricity compensation E2(∈ i ), used to correct the nonlinear effects of the force distribution and dynamic response of the plate under different eccentricity conditions. Specifically, the first eccentricity compensation E1(∈ i ) is mainly used to correct the speed difference between the upper and lower straightening rollers (Δω i,eff ) and the rate of change of eccentricity Inertial coupling effect under the joint action. That is, the instantaneous pressure generated by the relative rotation of the upper and lower rollers on the plate is not only determined by the angular velocity difference between the two, but also by the change speed of the eccentric motion. Multiply by E1(∈ i ), which can dynamically correct the complex interaction between the relative motion between the rollers and the dynamic changes of the plate eccentricity, and ensure the physical rationality of the modeling results when the eccentricity changes drastically.

[0171] The second eccentricity compensation amount E2(∈ i ) is used to correct the additional pressure caused by the dynamic change of eccentricity itself. i The change of reflects the unsteady disturbance caused by local deformation or elastic-plastic response of the plate during the dynamic straightening process. With E2(∈ i ) can be multiplied to physically compensate for the additional pressure or energy dissipation caused by the nonlinear change of eccentricity, thereby improving the applicability and response sensitivity of the model.

[0172] The first eccentricity compensation amount E1(∈ i ) and the second eccentricity compensation E2(∈ i ) can be determined by theoretical deduction, finite element simulation analysis or calibration experiments based on factors such as roller structure parameters, plate thickness, elastic modulus, and material nonlinear deformation behavior. For example, E1(∈ i ) can be used to describe the contact pressure correction coefficient between the roller and the plate due to the change of eccentricity. Its value can be obtained by fitting the relationship between the eccentricity and the force measured experimentally; E2(∈ i ) reflects the sensitivity of the dynamic change rate of eccentricity to friction, energy dissipation or additional vibration, and its value can be obtained by analyzing the pressure response curve under different eccentric motion conditions.

[0173] The above method is used to calculate the first eccentricity compensation E1(∈ i ) and the second eccentricity compensation E2(∈ i ) are modeled and corrected separately, which can more accurately characterize the force fluctuations and energy transfer anomalies caused by eccentric dynamics in the actual straightening process, thereby significantly improving the model's adaptability and prediction accuracy to complex dynamic straightening states, and providing a more reliable modeling basis for subsequent refined control and adaptive optimization.

[0174] In other embodiments, the first eccentricity compensation amount E1 (∈ i ) and the second eccentricity compensation E2(∈ i ) is calculated as follows:

[0175]

[0176] For the first eccentricity compensation E1(∈ i ),molecular Describes the amplification effect of eccentricity on the nonlinearity of pressure distribution, the denominator and To suppress the eccentricity from approaching the limit (ie ∈ i →1) makes the model converge and controllable even under large deformation. The overall structure reflects that the larger the eccentricity, the more obvious the amplification effect on the force and friction in the contact area. When the eccentricity of the i-th upper correction roller deviates from the standard point of the plate, ∈ i →1 or greater, indicating that the pressure distribution of the ith straightening roller on the reference surface of the plate is uneven, and the nonlinear function E1(∈ i ) to correct it.

[0177] For the second eccentricity compensation E2(∈ i ), through the denominator The dynamic response of high eccentricity is amplified, combined with the bracketed multiplication of its derivative about and The nonlinear combination of and reflects the complex energy dissipation and additional inertia effects in the contact zone caused by the dynamic changes in eccentricity. This expression is typically derived from elastic contact theory (such as Hertz contact) or high-order approximations and can better simulate the coupled behavior of additional vibration, friction, and damping in actual roller-plate systems.

[0178] By the first eccentricity compensation E1(∈ i ) and the second eccentricity compensation E2(∈ i ) setting can effectively characterize the nonlinear influence of eccentric motion on contact pressure and friction response, while ensuring the accuracy and convergence of the dynamic model, and improving the system's modeling and control robustness under large-scale and rapidly changing eccentricity situations.

[0179] Figure 11 A comparison is shown of the pressure distribution applied to the upper straightening roller using the two methods in the embodiments of the present disclosure and the prior art. Figure 11 (a) is a pressure distribution diagram of formula (23) when the upper straightening roller applies pressure to the reference plane on the plate using the method disclosed herein but without introducing eccentricity compensation; Figure 11(b) is to introduce the first compensation E1(∈ i ) and the second compensation amount E2(∈ i ) after the upper straightening roller exerts pressure on the reference plane of the plate. The pressure distribution diagram is shown in formula (24); Figure 11 (c) shows the comparative results generated using the prior art method. As can be seen from the figure, the present disclosure effectively enhances the force uniformity in the center and edge regions by compensating for the asymmetric compaction distribution caused by the eccentric motion of the rollers, improving the concentration of the extrusion force in the straightening area of ​​the sheet, and thus improving the final straightening flatness.

[0180] Figure 11 (c) The formula for calculating the pressure applied by the upper straightening roller to the upper surface of the plate is F ve,i =k i (H i -h i,fix ).h i,fix The fixed lifting or lowering height of the i-th upper straightening roller is set.

[0181] In terms of force concentration, Figure 11 (a) with Figure 11 (b) Both show obvious concentration of pressure distribution in the central area, and the maximum stress area is located in the central area of ​​the plate; Figure 11 (b) The pressure distribution is more symmetrical and concentrated (the color is more concentrated in orange), which shows the pressure enhancement effect in the middle part after compensation; Figure 11 (c) Although there is a central pressure peak in the pressure distribution diagram, the overall distribution is offset and the low-pressure areas at the edge and width directions increase, resulting in uneven force.

[0182] In terms of flatness, Figure 11 The pressure peak of (b) is more concentrated, the deformation of the plate is controllable, and the flatness is higher; there are insufficient compaction force areas at the front and back and edges of Figure (11c), which may cause wavy residual deformation at both ends or edges.

[0183] In the embodiment of the present disclosure, the eccentricity ∈ i Its rate of change The dynamic modeling method is to establish a nonlinear function expression of the unit pressure of the straightening roller on the plate surface, and introduce the first eccentricity compensation E1 (∈ i ) and the second compensation amount E2(∈ i ), which significantly improves the response sensitivity of the force distribution model to actual eccentric disturbances.

[0184] Figure 11 The uncompensated model shown in (a) is better than the prior art ( Figure 11(c)) has a certain degree of dynamic adjustment capability, which can adjust the force distribution according to the change of eccentricity, effectively avoiding the problems of "warping without compaction" or "over-compression leading to secondary deformation" caused by uniform force application in traditional models. Figure 11 The compensation model shown in (b) further achieves fine-tuning and dynamic compensation of force distribution on this basis, especially under the rapid eccentricity fluctuation caused by local thickness changes or rebound at the front and back or edge of the plate, it can adjust the force more quickly and accurately, and improve the flatness control accuracy. Figure 11 The introduction of the eccentricity compensation term in (b) makes the pressure distribution more concentrated and symmetrical, and the peak area narrower. The central symmetry and the force in the edge area are significantly optimized, and the straightening effect is optimal. Figure 11 (a) Improved but not optimal, and Figure 11 (c) Due to the lack of eccentric dynamic compensation, the plate is prone to defects such as center offset and edge wave deformation.

[0185] Therefore, on the basis of ensuring the physical consistency of the force model, the present invention constructs an enhanced straightening roller mechanical model through a double compensation function, which significantly improves the system's adaptability to nonlinear eccentric dynamics and the robustness of model predictive control. Experimental data further proves that the pressure calculation model applied by the straightening roller to the reference plane on the plate constructed by formula (23) or formula (24) of the present invention has significant advantages over the existing technology in flatness control and force uniformity.

[0186] Figure 12 A comparison of the lifting height and eccentricity of the i-th straightening roller as a function of the angular velocity difference between the upper and lower rollers and time is shown under different pressure modeling methods. Figure 12 (a) Figure 12 (c) Figure 12 (e) The lifting (or lowering) height h of the i-th straightening roller when different dynamic pressure models and control algorithms are used respectively i (t) Angular velocity difference of the upper and lower straightening rollers (also Δω i ) and time variation experimental results, the corresponding right side of the figure (b), figure (d), figure (f) are respectively the eccentricity ∈ i (t) dynamic change trend.

[0187] Figure 12 (a) Figure 12 (b) The corresponding method is the result of the method using formula (23), Figure 12 (c) Figure 12 (d) is the result of the method using formula (24), Figure 12 (a)- Figure 12 The corresponding results of (d) are calculated using the calculation formula in the method 400 of this disclosure.i (t) and ∈ i (t) Then the i-th upper straightening roller applies pressure F to the plate ve,i Modeling is carried out to construct the nonlinear dynamics formula (11). Figure 12 (e) and Figure 12 (f) is the use of the above prior art formula F ve,i =k i (H i -h i,fix ) Calculate the pressure F exerted by the i-th upper straightening roller on the plate ve,i And construct the control method after the nonlinear dynamics formula (11), Figure 12 (a)- Figure 12 (f) are all results of real-time monitoring.

[0188] Figure 12 (a) shows h i The change of (t) shows obvious periodicity and stability, which indicates that the lifting / lowering motion of the straightening roller is controllable and the straightening force distribution is regular; Figure 12 (b) shows that ∈ i (t) shows a monotonic and symmetrical change trend over time, with a smooth transition between positive and negative values, reflecting the ability of the control method modeled by formula (23) of the present disclosure to dynamically monitor and adjust the eccentricity state in real time.

[0189] Figure 12 (c) shows that formula (24) introduces E1(∈ i )E2(∈ i ) modeling control method, monitoring h i The real-time changes of (t) are further refined, the adjustment amplitude and dynamic response sensitivity are improved, the periodicity and lifting amplitude are more balanced and without mutation, indicating that the disclosed method can more accurately adapt to complex eccentric dynamic straightening scenarios. Figure 12 (d) shows that E1(∈ i )E2(∈ i ) modeling control method, real-time monitoring of the obtained ∈ i (t) shows a smoother monotonic change, the peak value is obviously controlled, and the extreme value range is narrowed, which further reduces the adverse effect of the straightening roller on the plate under extreme eccentricity.

[0190] Figure 12 (e) shows the control method in the prior art, the monitored h i (t) presents a curve with uneven amplitude, mutation and even local disorder. The periodicity and amplitude are lower than those of the disclosed method. There are large fluctuations and the control accuracy is obviously insufficient. Figure 12 (f) shows the control method in the prior art, where the monitoredi The fluctuation of (t) is large, the extreme value range is wide, and non-physical mutations occur, indicating that the existing technology is difficult to effectively suppress the influence of eccentric motion on the straightening pressure and accuracy.

[0191] pass Figure 12 Comparison results show that the present invention, by introducing eccentricity-based pressure compensation, enables precise force control and position adjustment of the straightening roller on the plate under fully dynamic conditions. Experimental data shows that after adopting the present pressure model, the plate lifting / lowering height and eccentricity curves are smooth, monotonic, amplitude-controlled, and periodically consistent, significantly outperforming the existing non-compensation strategy and effectively improving the plate flatness and edge transition quality.

[0192] Through the first and second eccentricity compensation amounts, the pressure calculation model applied by the i-th upper straightening roller on the upper surface of the plate constructed in the present invention can effectively suppress its unnecessary extreme eccentric walking path of the axis relative to the standard point of the plate, and can perform nonlinear physical corrections for large-scale and rapidly changing eccentric movements, significantly weakening the pressure mutations and dynamic fluctuations caused by extreme eccentricity, and enhancing the system's adaptability and robustness.

[0193] Therefore, compared to traditional control strategies based on fixed pressure, the method provided in this disclosure incorporates dynamic eccentricity modeling into a dynamic optimization solution. Through adaptive compensation, it achieves physically consistent modeling and real-time pressure correction for various eccentricity conditions. This method not only improves the accuracy of the dynamic solution but also effectively supports the continuous automated straightening of high-precision sheet metal of various specifications.

[0194] Figure 13 The results show that the lateral and longitudinal offsets (Δx(t), Δy(t)) of the standard points of three plates A, B and C of the same specifications during the straightening process vary with the angular velocity difference Δω of the upper and lower straightening rollers in the i-th straightening submodule under three different straightening force modeling methods (corresponding to the present disclosure and the prior art, respectively). i And the horizontal coordinate x of the standard point of the plate ref (t) Comparison results of the three-dimensional trajectory of the change. The red, blue, and black curves in the figure represent the straightening eccentricity trajectories of plates A, B, and C, respectively.

[0195] Δx(t)=x in the figure u,i (t)-x ref (t), Δy(t)=y u,i (t)-y ref (t). Figure 13The first column shows the changes of Δx(t), the second column shows the changes of Δy(t), the first line shows the results obtained by the optimization method of the nonlinear dynamic model modeled by formula (23), the second line shows the results obtained by the optimization method of the nonlinear dynamic model modeled by formula (24), and the third line shows the results calculated by the above-mentioned prior art. ve,i The results obtained by the optimization method of the modeled nonlinear dynamic model. Figure 13 The horizontal and vertical comparison in Figure 13 (a) and Figure 13 (b) shows the optimization method of modeling with formula (23) compared with Figure 13 (c) and Figure 13 (d) Without the introduction of eccentricity compensation, the Δx(t) and Δy(t) trajectories of the three plates show obvious divergence and non-uniform fluctuations, and some trajectories have large lateral or longitudinal offsets. This shows that relying solely on basic modeling cannot fully suppress the cumulative error and trajectory drift caused by the eccentric movement of the plates in the straightening area, affecting the final straightening accuracy. However, compared with Figure 13 (e) and Figure 13 (f) For example, the three trajectories representing different plates are more concentrated in space, without drastic divergence or abnormal mutation. At the same time, even without adding the eccentricity compensation term, the impact of inter-batch disturbance can still be significantly reduced, and the real-time force and posture adjustment of the plate can still be effectively regulated. This shows that the dynamic optimization modeling of formula (23) of the disclosed method can effectively suppress the trajectory drift caused by the change of plate batches even without adding the compensation term.

[0196] Figure 13 (c) and Figure 13 (d) shows the control method of nonlinear dynamics constructed by formula (24) in the embodiment of the present disclosure, by introducing the eccentricity compensation amount E1 (∈ i )E2(∈ i ), the trajectory distribution of the three plates is more concentrated, and the curve fluctuation amplitude is significantly reduced, indicating that the straightening trajectories of different plates have better consistency and controllability under the same parameters and control strategies, the lateral and longitudinal offsets are effectively suppressed, the overall straightness is improved, and the trajectory tends to be stable.

[0197] Figure 13 (e) and Figure 13 (f) shows the calculation of F using the existing technology ve,i The constructed nonlinear dynamic control method uses a traditional rigid mechanics model (without considering real-time dynamics and eccentricity effects). The eccentric trajectories of the three plates show more obvious bifurcation and drift, and some plates even show large trajectory rebound or residual deformation at the end of the straightening area, reflecting that the existing technical solutions are not robust enough and have poor stability when adapting to complex deformations and multi-batch process fluctuations.

[0198] From the above Figure 13 Comparisons show that the eccentricity compensation and dynamic force modeling methods employed in this disclosure significantly improve the trajectory consistency and force uniformity of plates of varying specifications and batches during the straightening process, effectively suppressing trajectory drift and residual deformation caused by eccentric motion, ensuring higher straightness and batch-to-batch stability after straightening. Compared to existing technologies, this disclosed solution not only improves straightening control accuracy but also enhances its adaptability to complex motions and diverse plate working conditions.

[0199] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the prescribed logical function. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart, can be implemented by a special hardware-based system that performs the prescribed function or action, or can be implemented by a combination of special hardware and computer instructions.

[0200] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, practical applications, or technical improvements to existing technologies, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A plate straightening method for straightening a plate whose thickness is much smaller than its length and width and whose surface has warping, wavy or undulating deformation, characterized in that: The plate straightening step comprises: Placing the plate to be straightened on a conveyor roller, and starting the conveyor roller to convey the plate to be straightened into the straightening area; According to the thickness, material and historical data of the plate, the initial height of multiple straightening submodules relative to the plate reference plane and the loading pressure on the plate are adjusted to achieve preliminary matching and parameter calling between the plate and the straightening components; Control the straightening component to start, pass the fed plate to be straightened through a straightening path formed by a plurality of staggered upper and lower straightening rollers, and drive the straightening rollers to rotate synchronously; The forces acting on the plate in different straightening roller areas and the posture parameters of multiple straightening submodules are monitored. Based on the repeated positive and negative bending deformations imposed on the plate when it passes through the multiple straightening submodules, the residual stress is evenly released and straightening correction is gradually achieved.

2. The method according to claim 1, characterized in that The preliminary matching includes: determining the mass matrix M of the plurality of alignment submodules according to the actual structural parameters and assembly parameters i , damping matrix C i , stiffness matrix S i .

3. The method according to claim 1, characterized in that The plate reference plane includes an upper reference plane and a lower reference plane; The upper reference plane is the horizontal plane where the upper plane of the standard plate after straightening or the upper surface of the initial end of the plate to be straightened entering the straightening area is located, and the lower reference plane is the horizontal plane where the lower plane of the standard plate after straightening or the lower surface of the initial end of the plate to be straightened entering the straightening area is located.

4. The method according to claim 1, wherein The step of monitoring the forces on the plate in different straightening roller areas and the position parameters of the plurality of straightening submodules, and gradually achieving straightening correction based on the repeated positive and negative bending deformation of the plate when passing through the plurality of straightening submodules includes: Acquire real-time state variables of multiple straightening submodules, including the spatial position and speed of the upper and lower straightening rollers, standard plate parameters of the plate to be straightened, and the distance between the initial end of the plate to be straightened and the initial position of the straightening zone, thereby determining the plate standard point; Determine the parameters and output forces of multiple straightening submodules; Based on the preliminary matching results and the output forces of multiple straightening submodules, a nonlinear dynamic equation is constructed; According to the target solution results of the nonlinear model, the model predictive control optimization objective function is constructed; Taking the lifting gap and target pressure of multiple straightening sub-modules as control targets, the lifting height and force of multiple straightening sub-modules are optimized in real time to improve straightening accuracy.

5. The method according to claim 4, characterized in that The step of constructing the nonlinear dynamic equation also includes determining the dynamic angle of each straightening submodule relative to the standard point of the plate.

6. The method according to claim 4, characterized in that The step of determining the parameters and output forces of the plurality of straightening submodules further includes: Calculate the real-time lifting height of the upper straightening roller of each straightening submodule according to the rotational angular velocity difference between the upper straightening roller and the lower straightening roller of each straightening submodule and the real-time state variable of each straightening submodule; Further, based on the real-time lifting height, the real-time eccentricity of the upper straightening roller of each straightening submodule relative to the standard point of the plate is obtained; Based on the real-time lifting height and real-time eccentricity of the upper straightening roller of each straightening submodule, the pressure exerted by the eccentric movement of each upper straightening roller on the reference plane of the plate is calculated.

7. The method according to claim 6, characterized in that The calculation of the pressure exerted on the reference plane on the plate by the eccentric movement of each upper straightening roller is also based on the first eccentricity compensation amount and the second eccentricity compensation amount.

8. A plate straightening control system, comprising a structural parameter modeling unit and a controller; The structural parameter modeling unit is configured to adjust the initial heights of the plurality of straightening submodules relative to the plate reference plane and the loading pressure on the plate according to the thickness and material of the plate, so as to achieve a preliminary match between the plate and the straightening component; The controller is configured to start the conveyor roller to send the plate to be straightened into the straightening area when the plate to be straightened is placed on the conveyor roller; call the various parameters preliminarily matched by the structural parameter modeling unit; control the straightening component to start, and send the plate to be straightened through a straightening path formed by multiple upper and lower straightening rollers arranged in an staggered manner, and drive the straightening rollers to rotate synchronously; monitor the stress state of the plate in different straightening roller areas and the posture parameters of multiple straightening sub-modules, and based on the repeated positive and negative bending deformations applied to the plate when it passes through multiple straightening sub-modules, evenly release the residual stress and gradually achieve straightening correction.

9. A plate straightening machine comprising: A conveyor roller, a straightening zone consisting of a plurality of straightening submodules, an adjustment device, a drive system, and a control system as claimed in claim 8, for respectively controlling the conveyor roller, the plurality of straightening submodules, the adjustment device, and the drive system to achieve straightening of the plate to be straightened; The conveying roller is used to continuously and stably convey the steel plates to be straightened into and out of the straightening area; Among the multiple straightening submodules, each straightening submodule includes a lower straightening roller and an upper straightening roller that travels a preset distance along the direction of plate travel, the upper straightening roller is arranged on the upper part of the conveying roller, and the lower straightening roller is arranged on the lower part of the conveying roller; the upper straightening rollers and the lower straightening rollers of the multiple straightening submodules are sequentially arranged in an interlaced manner along the direction of plate travel, and are used to implement multi-point alternating bending control on the passing plate, thereby achieving residual stress equalization and straightness correction of the steel plate; The adjustment device includes two meshing gears arranged at corresponding positions above the two ends of the roller shaft of each upper straightening roller and a screw arranged on one side of one of the meshing gears and meshing with it; each screw is connected to a first motor; The driving system includes a third motor for driving the lower straightening rollers of the plurality of straightening submodules to rotate, and also includes a second motor for driving the upper straightening rollers of the plurality of straightening submodules to lift or lower.

10. The plate straightening machine according to claim 9, characterized in that: The driving system further includes a fourth motor for driving the upper straightening rollers of the plurality of straightening submodules to rotate around their own axes.

Images