Closed-loop feedback control method for preheating temperature of steel belt for steel belt corrugated pipe

Abstract

The invention relates to the technical field of steel belt corrugated pipe production, in particular to a closed-loop feedback control method for the preheating temperature of a steel belt for a steel belt corrugated pipe, and the method comprises the steps: obtaining the partition and segmentation information of a target temperature control region from a database; constructing a two-stage control architecture, and performing tracking control on the partitions and performing consistency control on the segments through the two-stage control architecture; comprising the following steps: performing independent temperature curve planning in each subarea, performing tracking control on the temperature of each subarea based on an independent temperature curve, and feeding back a control effect; and coordinating the heating control of each subsection in the subareas so as to carry out consistency control on the heating among the plurality of subareas.

Description

Technical Field

[0001] This invention relates to the field of steel strip corrugated pipe production technology, and in particular to a closed-loop feedback control method for the preheating temperature of steel strip for steel strip corrugated pipe. Background Technology

[0002] Steel-reinforced corrugated pipe (HDPE steel-reinforced polyethylene spiral corrugated pipe) is a high-performance drainage and sewage pipe widely used in modern municipal, transportation, and water conservancy projects. Its core advantages are high ring stiffness and excellent compressive strength. The built-in steel strip enables it to withstand extremely high external loads (such as deep burial and surface vehicle loads) without easily deforming or crushing.

[0003] In the production of corrugated steel strip pipes, the steel strip passes through a dedicated preheating device (usually electrically heated or hot air heated) before entering the extrusion die to be coated with PE. The primary purpose of preheating is to remove moisture and contaminants, ensuring the steel strip surface is absolutely dry and clean, preventing air bubbles from forming due to moisture evaporation; and to raise the interface temperature so that when the cold metal steel strip comes into contact with the hot molten PE material, the PE does not cool rapidly due to an excessive temperature difference. If the preheating temperature is too low, poor bonding strength and delamination problems will occur; if the preheating temperature is too high, PE aging and degradation and embrittlement of the adhesive layer will occur.

[0004] Currently, most mainstream production lines adopt a closed-loop control method of "pre-setting + real-time monitoring + dynamic feedback adjustment". To further improve control accuracy and reliability, some manufacturers use PID control combined with multi-stage heating, with each zone equipped with an independent temperature sensor, PID controller and actuator, which can control temperature fluctuations within a small range.

[0005] Therefore, when using PID control combined with multi-stage heating, the common challenge is how to ensure that the temperature changes in each zone are smooth and without fluctuations. Summary of the Invention

[0006] This invention plans an independent temperature curve for each zone and generates corresponding control inputs based on the independent temperature curve, ensuring that each zone heats up smoothly according to the independent temperature curve.

[0007] The technical solution proposed in this invention is: a closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes, the method comprising: Retrieve the partition and segmentation information of the target temperature control area from the database; A two-level control architecture is constructed to track and control partitions and ensure consistency across segments; including: Independent temperature profile planning is performed for each zone, and the temperature of each zone is tracked and controlled based on the independent temperature profile, with feedback on the control effect. Coordinate the heating control of each segment within the partition to achieve consistent heating control across multiple partitions.

[0008] Preferably, obtaining the partition and segmentation information of the target temperature control area from the database includes: Retrieve from the database the number of zones in the target temperature control area used for preheating, the volume of each zone, and the number of segments in each zone used for heating.

[0009] Preferably, the step of planning independent temperature profiles for each zone includes: To achieve smooth heating by constructing an S-shaped temperature curve, the first... The independent temperature profiles for each zone are as follows: ;in, Indicates normalized time. Indicates the initial temperature. Indicates partition Target preheating temperature; Indicates normalized time; ;in, , This represents the inflection point parameter of the S-curve.

[0010] Preferably, the step of tracking and controlling the temperature of each zone based on an independent temperature curve includes: The set temperature is adaptively adjusted according to the steel strip speed, that is: The adaptive temperature adjustment curve is as follows: ;in This indicates the current speed of the steel strip. This indicates the rated speed of the steel strip. This represents the speed compensation coefficient and temperature sensitivity coefficient. ,in Indicates the temperature of the steel strip; Introducing temperature coupling between adjacent zones for zoned coupled PID control includes: set up partition Temperature control input at any time is , ; in, Indicates the forward coupling coefficient. Indicates the backward prediction coefficient. express partition The actual temperature is measured at all times. express partition Adaptive temperature at any given time; Indicates the current time Temperature error, ; , and This represents the PID gain coefficient. Indicates the sampling time interval; To prevent saturation in PID control, i.e.: if ;but The PID controller stops integral accumulation; if ;but The PID controller stops integral accumulation; if The PID controller performs normal integral accumulation; among which, , These represent the maximum and minimum values ​​of the control parameter, respectively.

[0011] Preferably, the feedback control effect includes: Establish a smoothness index for the fit between independent temperature curves of each zone. ;in, Indicates the number of partitions. These respectively represent the steel strip in Partitions and Temperature measurement at the end of the partition; Develop temperature uniformity index ; if If the temperature curves of the intervals are found to be smoothly fitted, then the temperature curves of the intervals are determined to be smooth; otherwise, the independent temperature curves of adjacent intervals are determined to be unsmoothly transitioned, and the independent temperature curves of the two adjacent intervals need to be adjusted. if If the independent temperature curve of the corresponding partition is smooth, then it is determined that the independent temperature curve of the corresponding partition has a sudden change point, that is, the temperature distribution within the partition is uneven, and the adaptive temperature curve needs to be adjusted.

[0012] Preferably, adjusting the independent temperature curves of two adjacent zones includes: Multi-zone heat transfer modeling includes: Construct the heat transfer equation: ; where, state vector , control input vector ; Indicates the first Heating power of each zone; perturbation vector ; , , and These represent the heat transfer matrix, control matrix, disturbance matrix, and output control matrix, respectively. Indicates the output vector; Indicates ambient temperature; ; in Indicates from partition To partition The conductivity, Indicates from partition To partition The conductivity coefficient; Indicates partition The coefficient of heat loss to the environment; ;in, Indicates the thermal conductivity coefficient. Indicates the contact area. Indicates the density of the material. Indicates the specific heat capacity of the material. Indicates partition Volume; Discretizing the heat transfer mechanism yields the discrete state-space equations: ; express The state vector at time t, express The control input vector at time t, express The perturbation vector of the control input vector at any given time; ; ;in, Indicates the sampling time; Represents the identity matrix; Construct the cost function: ; The constraints are as follows: ; ; and This represents the minimum and maximum output values; Represents slack variables. , and This represents the output tracking weight matrix, control increment weight matrix, and control energy weight matrix. and This indicates the control time domain and the prediction time domain. ; Indicates the constraint relaxation weight. Represents the reference temperature curve Output vector at time step; The quadratic programming algorithm, under constraints, is used to find the algorithm that minimizes the cost function. That is, the optimal control input vector and the optimal output vector; Obtain the optimal state vector based on the optimal output vector. ; pass Correct the independent temperature profiles of the corresponding partitions to obtain the corrected independent temperature profiles of two adjacent partitions: ; .

[0013] Preferably, the coordinated heating control of each segment within the partition, to achieve consistent heating control across multiple partitions, includes: Segmented coordinated control within the zone to ensure uniform temperature distribution across all segments, including: Within the partition, perform inter-segment coupling modeling, i.e., construct a segmented dynamic model: The temperature dynamics of each segment are as follows: ; in, This represents the disturbance coefficient. Indicates external disturbance. Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient, Indicates the first Zones and sections To segment The thermal coupling coefficient; Represents the time interval at any given moment. Partition number Segmented control input; Indicates the first Partition number Temperature at the end of the segment Indicates the first Partition number Temperature at the end of the segment; Set the control target within the partition, that is: ;in, in, Indicates partition The number of segments within; Set the tracking and control target, namely: ;in, Indicates partition Target temperature; Perform segmented coordination control within the partition, including: Decompose the control input, that is: ; Among them, consistency control items , , , This represents the consistency control coefficient. Indicates segmentation To segment Self-heating coefficient; Tracking control items ;in, , Indicates the tracking control coefficient; Partition The optimization problem is transformed into solving the partition cost function under control inputs for different segments within the partition. The optimal solution problem, namely: ;in, Indicates the temperature weighting coefficient; Indicates the control weighting coefficient; Define the Lagrange function ; Represents the Lagrange multipliers; The optimality condition is obtained through the variational method: ,Right now:

[0014] Solving the above equations using the gradient descent method includes: Temperature iterative update: ; Indicates the temperature update step size; Indicates the weight of temperature consistency; Status update: ; Indicates the co-state learning rate. ; Control input iterative update: ; This represents the energy consumption penalty coefficient; After reaching the maximum number of iterations, the condition is satisfied. Solution , .

[0015] Preferably, the method for coordinating the heating control of each segment within the partition to achieve consistent heating control across multiple partitions further includes: Coordination control is performed on adjacent segments of adjacent partitions, including: Identify strongly coupled adjacent segments and construct a set of strongly coupled segment pairs. ; Indicates the threshold value of the thermal coupling coefficient; For strongly coupled piecewise pairs, a special coordination term is introduced to form an enhanced control input term. ; Among them, special coordination items ; , , Indicates a special coordination coefficient; Constructing a temperature prediction model: ; Indicates partition Inside Segmentation and Segmented temperature coupling coefficient; Indicates the prediction time step; express Time partitioning Inside The end temperature of the segment; Construct a control input prediction model: ; Indicates the control input prediction coefficient; Coordinated control of partition boundaries, including: Constructing a cross-partition boundary coupling model: Each boundary segment pair The temperature dynamics are as follows: ; ; in, Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient; No. Partition number Temperature at the end of the segment; The problem of coordinating and controlling the partition boundaries is transformed into the problem of solving the objective function of boundary coordination. The objective function for boundary coordination is: ; in, , and These represent the boundary coordination temperature coefficient, the boundary coordination state coefficient, and the boundary coordination control input coefficient, respectively. The solution is obtained through multiple iterations using the gradient descent method. ; The obtained solution is defined as the boundary coordination control input: ; in, These represent the proportional gain, integral gain, and derivative gain of the PID controller at the boundary segment, respectively. Indicates the duration of integration; and Indicates the first Partition number The predicted temperature at the end of the segment and the first Partition number Predicted temperature at the end of the segment; Then, the corresponding boundary segment pairs The control inputs are as follows: ; ; application and Control the heating of the corresponding zones and sections; feedback ,if If the condition is met, then the coordinated control at the partition boundary is determined to be stable; otherwise, the coordinated control at the partition boundary is stopped, and the control is used... and As the control input for the corresponding boundary segmentation, adjust ,satisfy Then, coordinate control of the partition boundaries is initiated.

[0016] An electronic device includes a processor, a communication module connected to the processor, and a memory, the electronic device being used to implement the closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes.

[0017] A computer-readable storage medium storing a computer program that is executed by a processor to implement the closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes.

[0018] The beneficial effects of this invention are: 1. This invention plans temperature curves for each zone, sets independent temperature curves based on a set temperature, and adaptively adjusts the set temperature according to the speed of the steel strip. Using the adjusted temperature curves, corresponding control inputs are generated. By applying the control inputs (adjusting the parameters of the corresponding PID controller), independent heating control is achieved for each zone, ensuring that the temperature of the steel strip rises according to the corresponding independent temperature curves when passing through multiple zones. By feedback control effect, it is determined whether the independent temperature curves between different zones are smoothly fitted, so as to ensure smooth overall temperature control.

[0019] 2. In a scenario where a partition contains multiple segments, the present invention achieves an average temperature distribution across all segments through coordinated control of the segments within the partition; simultaneously, coordinated control is performed on adjacent segments within the partition to ensure the smoothness of temperature changes at the boundaries between segments. Attached Figure Description

[0020] Figure 1 This is a flowchart of a closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to the present invention. Detailed Implementation

[0021] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious modifications will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0022] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0023] refer to Figure 1 The technical solution provided by this invention is: a closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes, the method comprising: Step 1: Retrieve the partition and segmentation information of the target temperature control area from the database, specifically including: Retrieve from the database the number of zones in the target temperature control area used for preheating, the volume of each zone, and the number of segments in each zone used for heating.

[0024] Step 2: Construct a two-level control architecture to perform tracking control on partitions and consistency control on segments; including: Step 2.1: Plan an independent temperature curve for each zone, track and control the temperature of each zone based on the independent temperature curve, and provide feedback on the control effect.

[0025] The independent temperature profile planning includes the following steps: To achieve smooth heating by constructing an S-shaped temperature curve, the first... The independent temperature profiles for each zone are as follows: ; in, Indicates normalized time. This indicates the initial temperature (ambient temperature). Indicates partition Target preheating temperature; Indicates normalized time; ; in, , Indicates the parameters of the S-curve inflection point (e.g.) , ).

[0026] The temperature tracking and control of each zone based on independent temperature curves includes the following steps: The set temperature is adaptively adjusted according to the steel strip speed, that is: The adaptive temperature adjustment curve is as follows: ;in This indicates the current speed of the steel strip. This indicates the rated speed of the steel strip. This represents the speed compensation coefficient and temperature sensitivity coefficient. ,in Indicates the temperature of the steel strip; Introducing temperature coupling between adjacent zones for zoned coupled PID control includes: set up partition Temperature control input at any time is , ; in, Indicates the forward coupling coefficient. Indicates the backward prediction coefficient. express partition The actual temperature is measured at all times. express partition Adaptive temperature at any given time; Indicates the current time Temperature error, ; , and This represents the PID gain coefficient. Indicates the sampling time interval; To prevent saturation in PID control, i.e.: if ;but The PID controller stops integral accumulation; if ;but The PID controller stops integral accumulation; if The PID controller performs normal integral accumulation; among which, , These represent the maximum and minimum values ​​of the control parameter, respectively.

[0027] The feedback control effect includes the following steps: Establish a smoothness index for the fit between independent temperature curves of each zone. ; in, Indicates the number of partitions. These respectively represent the steel strip in Partitions and Temperature measurement at the end of the partition; Develop temperature uniformity index .

[0028] if If the temperature curves of the intervals are found to be smoothly fitted, then the temperature curves of the intervals are determined to be smooth; otherwise, the independent temperature curves of adjacent intervals are determined to be unsmoothly transitioned, and the independent temperature curves of the two adjacent intervals need to be adjusted. In this embodiment, the independent temperature curves of two adjacent zones are adjusted through the following steps: Multi-zone heat transfer modeling includes: Construct the heat transfer equation: ; Wherein, the state vector , control input vector ; Indicates the first Heating power of each zone; perturbation vector ; , , and These represent the heat transfer matrix, control matrix, disturbance matrix, and output control matrix, respectively. Indicates the output vector; Indicates ambient temperature; ;in Indicates from partition To partition The transmission coefficient (i.e., the transmission coefficient from the previous partition to the current partition). Indicates from partition To partition The transmission coefficient (i.e., the transmission coefficient from the current partition to the next partition). Indicates partition Heat loss coefficient to the environment (i.e., heat loss coefficient of the current zone) ;in, Indicates the thermal conductivity coefficient. Indicates the contact area. Indicates the density of the material. Indicates the specific heat capacity of the material. Indicates partition Volume; Discretizing the heat transfer mechanism yields the discrete state-space equations: ; express The state vector at time t, express The control input vector at time t, express The perturbation vector of the control input vector at any given time; ; ;in, Indicates the sampling time; Represents the identity matrix; Construct the cost function: ; The constraints are as follows: ; ; and This represents the minimum and maximum output values; Represents slack variables. , and This represents the output tracking weight matrix, control increment weight matrix, and control energy weight matrix (adjusting tracking accuracy and control energy consumption). and This indicates the control time domain and the prediction time domain. ; Indicates the constraint relaxation weight. Represents the reference temperature curve Output vector at time step; The quadratic programming algorithm, under constraints, is used to find the algorithm that minimizes the cost function. That is, the optimal control input vector and the optimal output vector; Obtain the optimal state vector based on the optimal output vector. (i.e., the predicted value of the target preheating temperature); pass Correct the independent temperature profiles of the corresponding partitions to obtain the corrected independent temperature profiles of two adjacent partitions: ; .

[0029] Optimize the independent temperature curves of two adjacent zones to achieve a smooth transition between them. This not only enables a smooth transition of the global temperature curve but also ensures precise temperature control in each zone.

[0030] if If the independent temperature curve of the corresponding partition is smooth, then proceed to step 2.2.

[0031] Step 2.2: Coordinate the heating control of each segment within the partition to achieve consistent heating control across multiple partitions. This specifically includes the following steps: Implement segmented coordinated control within the zone to ensure uniform temperature distribution across all segments, including: Within the partition, perform inter-segment coupling modeling, i.e., construct a segmented dynamic model: The temperature dynamics for each segment are as follows: ;in, This represents the disturbance coefficient. Indicates external disturbance. Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient, Indicates the first Zones and sections To segment The thermal coupling coefficient; Represents the time interval at any given moment. Partition number Segmented control input; Indicates the first Partition number Temperature at the end of the segment Indicates the first Partition number Temperature at the end of the segment; Set the control target within the partition, that is: Among them, the average temperature of the zones , Indicates partition The number of segments within; Set the tracking and control target, namely: ;in, Indicates partition Target temperature; Perform segmented coordination control within the partition, including: Decompose the control input, that is: ; Among them, consistency control items , , , This represents the consistency control coefficient. Indicates segmentation To segment Self-heating coefficient; Tracking control items ;in, , Indicates the tracking control coefficient; Partition The optimization problem is transformed into solving the partition cost function under control inputs for different segments within the partition. The optimal solution problem, namely: ; in, Indicates the temperature weighting coefficient; Indicates the control weighting coefficient; Define the Lagrange function: ; Represents the Lagrange multipliers; The optimality condition is obtained through the variational method: ,Right now:

[0032] Solving the above equations using the gradient descent method includes: Temperature iterative update: ; Indicates the temperature update step size; Indicates the weight of temperature consistency; Status update: ; Indicates the co-state learning rate. ; Control input iterative update: ; This represents the energy consumption penalty coefficient; After reaching the maximum number of iterations, the following condition is met: Solution , The heating process is controlled by the obtained control inputs to ensure uniform temperature in each zone, i.e., a smooth independent heating curve for each zone.

[0033] Example 2: Example 1 provides a method for smoothly connecting independent temperature curves within a partition; however, when there are multiple segments (at least two) within a partition, the impact of thermal coupling between segments and thermal coupling between adjacent partitions on temperature control needs to be considered. Therefore, based on Example 1, we propose the following solution: Coordination control is performed on adjacent segments of adjacent partitions, including: Identify strongly coupled adjacent segments and construct a set of strongly coupled segment pairs. ; Indicates the threshold value of the thermal coupling coefficient; For strongly coupled piecewise pairs, a special coordination term is introduced to form an enhanced control input term. ; Among them, special coordination items: ; , , Indicates a special coordination coefficient; Constructing a temperature prediction model: ; Indicates partition Inside Segmentation and Segmented temperature coupling coefficient; Indicates the prediction time step; express Time partitioning Inside The end temperature of the segment; Construct a control input prediction model: ; Indicates the control input prediction coefficient; Coordinated control of partition boundaries, including: Constructing a cross-partition boundary coupling model: Each boundary segment pair The temperature dynamics are as follows: ; ; in, Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient; No. Partition number Temperature at the end of the segment; The problem of coordinating and controlling the partition boundaries is transformed into the problem of solving the objective function of boundary coordination. The objective function for boundary coordination is ; in, , and These represent the boundary coordination temperature coefficient, the boundary coordination state coefficient, and the boundary coordination control input coefficient, respectively. The solution is obtained through multiple iterations using the gradient descent method. ; The obtained solution is defined as the boundary coordination control input. ; in, These represent the proportional gain, integral gain, and derivative gain of the PID controller at the boundary segment, respectively. Indicates the duration of integration; and Indicates the first Partition number The predicted temperature at the end of the segment and the first Partition number Predicted temperature at the end of the segment; Then, the corresponding boundary segment pairs The control inputs are as follows: ; ; application and Control the heating of the corresponding zones and sections; feedback ,if If the condition is met, then the coordinated control at the partition boundary is determined to be stable; otherwise, the coordinated control at the partition boundary is stopped, and the control is used... and As the control input for the corresponding boundary segmentation, adjust ,satisfy Then, coordinate control of the partition boundaries is initiated.

[0034] By implementing segmented coordinated control within a zone and coordinated control between adjacent zones, the uniformity of temperature within the zone and the smoothness of the boundaries are ensured.

[0035] The present invention also provides an electronic device, including a processor, a communication module and a memory connected to the processor, the electronic device being used to implement the closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes.

[0036] The present invention also provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement the closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes.

[0037] The processes described above with reference to the flowcharts in the embodiments disclosed in this invention can be implemented as computer software programs. The embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs the functions defined in the methods of this application. It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wire segments, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless segments, wire segments, optical fibers, RF, etc., or any suitable combination thereof.

[0038] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0039] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles described, the implementation of the present invention may have any changes or modifications.

Claims

1. A closed-loop feedback control method for the preheating temperature of steel strip in steel strip corrugated pipes, characterized in that, The method includes: Retrieve the partition and segmentation information of the target temperature control area from the database; A two-level control architecture is constructed to track and control partitions and ensure consistency across segments; including: Independent temperature profile planning is performed for each zone, and the temperature of each zone is tracked and controlled based on the independent temperature profile, with feedback on the control effect. Coordinate the heating control of each segment within the partition to achieve consistent heating control across multiple partitions.

2. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 1, characterized in that, The step of obtaining the partition and segmentation information of the target temperature control area from the database includes: Retrieve from the database the number of zones in the target temperature control area used for preheating, the volume of each zone, and the number of segments in each zone used for heating.

3. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 2, characterized in that, The independent temperature profile planning for each zone includes: To achieve smooth heating by constructing an S-shaped temperature curve, the first... The independent temperature profiles for each zone are as follows: ;in, Indicates normalized time. Indicates the initial temperature. Indicates partition Target preheating temperature; Indicates normalized time; ;in, , This represents the inflection point parameter of the S-curve.

4. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 3, characterized in that, The temperature tracking and control of each zone based on independent temperature curves includes: The set temperature is adaptively adjusted according to the steel strip speed, that is: The adaptive temperature adjustment curve is as follows: ;in This indicates the current speed of the steel strip. This indicates the rated speed of the steel strip. This represents the speed compensation coefficient and temperature sensitivity coefficient. ,in Indicates the temperature of the steel strip; Introducing temperature coupling between adjacent zones for zoned coupled PID control includes: set up partition Temperature control input at any time is , ； in, Indicates the forward coupling coefficient. Indicates the backward prediction coefficient. express partition The actual temperature is measured at all times. express partition Adaptive temperature at any given time; Indicates the current time Temperature error, ; , and This represents the PID gain coefficient. Indicates the sampling time interval; To prevent saturation in PID control, i.e.: if ;but The PID controller stops integral accumulation; if ;but The PID controller stops integral accumulation; if The PID controller performs normal integral accumulation; among which, , These represent the maximum and minimum values ​​of the control parameter, respectively.

5. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 4, characterized in that, The feedback control effect includes: Establish a smoothness index for the fit between independent temperature curves of each zone: ； in, Indicates the number of partitions. These respectively represent the steel strip in Partitions and Temperature measurement at the end of the partition; Develop temperature uniformity index ; if If the temperature curves of the intervals are found to be smoothly fitted, then the temperature curves of the intervals are determined to be smooth; otherwise, the independent temperature curves of adjacent intervals are determined to be unsmoothly transitioned, and the independent temperature curves of the two adjacent intervals need to be adjusted. if If the independent temperature curve of the corresponding partition is smooth, then it is determined that the independent temperature curve of the corresponding partition has a sudden change point, that is, the temperature distribution within the partition is uneven, and the adaptive temperature curve needs to be adjusted.

6. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 5, characterized in that, The adjustment of the independent temperature curves of two adjacent zones includes: Multi-zone heat transfer modeling includes: Construct the heat transfer equation: ； Wherein, the state vector , control input vector ; Indicates the first Heating power of each zone; perturbation vector ; , , and These represent the heat transfer matrix, control matrix, disturbance matrix, and output control matrix, respectively. Indicates the output vector; Indicates ambient temperature; ； in Indicates from partition To partition The conductivity, Indicates from partition To partition The conductivity coefficient; Indicates partition The coefficient of heat loss to the environment; ;in, Indicates the thermal conductivity coefficient. Indicates the contact area. Indicates the density of the material. Indicates the specific heat capacity of the material. Indicates partition Volume; Discretizing the heat transfer mechanism yields the discrete state-space equations: ； express The state vector at time t, express The control input vector at time t, express The perturbation vector of the control input vector at any given time; ； ;in, Indicates the sampling time; Represents the identity matrix; Construct the cost function: ； The constraints are as follows: ; ; and This represents the minimum and maximum output values; Represents slack variables. , and This represents the output tracking weight matrix, control increment weight matrix, and control energy weight matrix. and This indicates the control time domain and the prediction time domain. ; Indicates the constraint relaxation weight. Represents the reference temperature curve Output vector at time step; The quadratic programming algorithm, under constraints, is used to find the algorithm that minimizes the cost function. That is, the optimal control input vector and the optimal output vector; Obtain the optimal state vector based on the optimal output vector. ; pass Correct the independent temperature profiles of the corresponding partitions to obtain the corrected independent temperature profiles of two adjacent partitions: ； 。 7. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 6, characterized in that, The coordination of heating control within each segment of the partition, to achieve consistent heating control across multiple partitions, includes: Segmented coordinated control within the zone to ensure uniform temperature distribution across all segments, including: Within the partition, perform inter-segment coupling modeling, i.e., construct a segmented dynamic model: The temperature dynamics of each segment are as follows: ； in, This represents the disturbance coefficient. Indicates external disturbance. Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient, Indicates the first Zones and sections To segment The thermal coupling coefficient; Represents the time interval at any given moment. Partition number Segmented control input; Indicates the first Partition number Temperature at the end of the segment Indicates the first Partition number Temperature at the end of the segment; Set the control target within the partition, that is: ； in, , Indicates partition The number of segments within; Set the tracking and control target, namely: ;in, Indicates partition Target temperature; Perform segmented coordination control within the partition, including: Decompose the control input, that is: ; Among them, consistency control items ， , , This represents the consistency control coefficient. Indicates segmentation To segment Self-heating coefficient; Tracking control items ； in, , Indicates the tracking control coefficient; Partition The optimization problem is transformed into solving the partition cost function under control inputs for different segments within the partition. The optimal solution problem, namely: ； in, Indicates the temperature weighting coefficient; Indicates the control weighting coefficient; Define the Lagrange function ; Represents the Lagrange multipliers; The optimality condition is obtained through the variational method: ,Right now: ； Solving the above equations using the gradient descent method includes: Temperature iterative update: ; Indicates the temperature update step size; Indicates the weight of temperature consistency; Status update: ; Indicates the co-state learning rate. ; Control input iterative update: ; This represents the energy consumption penalty coefficient; After reaching the maximum number of iterations, the condition is satisfied. Solution , .

8. The closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to claim 7, characterized in that: The method for coordinating the heating control of each segment within a partition to achieve consistent heating control across multiple partitions also includes: Coordination control is performed on adjacent segments of adjacent partitions, including: Identify strongly coupled adjacent segments and construct a set of strongly coupled segment pairs. ; Indicates the threshold value of the thermal coupling coefficient; For strongly coupled piecewise pairs, a special coordination term is introduced to form an enhanced control input term. ; Among them, special coordination items ; , , Indicates a special coordination coefficient; Constructing a temperature prediction model: ; Indicates partition Inside Segmentation and Segmented temperature coupling coefficient; Indicates the prediction time step; express Time partitioning Inside The end temperature of the segment; Construct a control input prediction model: ; Indicates the control input prediction coefficient; Coordinated control of partition boundaries, including: Constructing a cross-partition boundary coupling model: Each boundary segment pair The temperature dynamics are as follows: ； ； in, Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Segmentation of each partition With the Segmentation of each partition Boundary coupling coefficient; Indicates the first Zones and sections The self-heating coefficient, Indicates the first Zones and sections The heating efficiency coefficient; No. Partition number Temperature at the end of the segment; The problem of coordinating and controlling the partition boundaries is transformed into the problem of solving the objective function of boundary coordination. The objective function for boundary coordination is ； in, , and These represent the boundary coordination temperature coefficient, the boundary coordination state coefficient, and the boundary coordination control input coefficient, respectively. The solution is obtained through multiple iterations using the gradient descent method. ； The obtained solution is defined as the boundary coordination control input. ； in, These represent the proportional gain, integral gain, and derivative gain of the PID controller at the boundary segment, respectively. Indicates the duration of integration; and Indicates the first Partition number The predicted temperature at the end of the segment and the first Partition number Predicted temperature at the end of the segment; Then, the corresponding boundary segment pairs The control inputs are as follows: ； ； application and Control the heating of the corresponding zones and sections; feedback ,if If the condition is met, then the coordinated control at the partition boundary is determined to be stable; otherwise, the coordinated control at the partition boundary is stopped, and the control is used... and As the control input for the corresponding boundary segmentation, adjust ,satisfy Then, coordinate control of the partition boundaries is initiated.

9. An electronic device, comprising a processor, a communication module connected to the processor, and a memory, characterized in that, The electronic device is used to implement the closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is executed by a processor to implement a closed-loop feedback control method for the preheating temperature of steel strip for corrugated steel pipes according to any one of claims 1-8.

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