Method and device for controlling high-speed and high-rigidity rolling mill

Abstract

The invention discloses a high-speed and high-rigidity rolling mill control method and device. The method comprises the steps that the real-time linear speed of a rolled piece at an outlet of a first rolling mill in a high-speed and high-rigidity production line and the torque feedback value of the rolling mill are obtained in real time; determining a first prediction moment and a second prediction moment; opening a compensation torque control window; the compensation torque is controlled to be input into the second rolling mill in a linear increasing mode within the first preset duration; after a first preset duration, continuously inputting the compensation torque with a preset compensation torque value until the detection result shows that steel exists at the hot metal detector at the outlet of the second rolling mill or a second prediction moment is reached, closing the compensation torque control window, and controlling the compensation torque to be cancelled from the preset compensation torque value to zero according to a preset gradient, according to the method, moment compensation can be carried out on impact load during steel biting of a rolled piece in time, the control precision, the rolling effect and the stability of the high-speed and high-rigidity rolling mill are improved, and steel piling accidents are avoided.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of rolling mill control technology, and in particular to a method and apparatus for controlling high-speed, high-rigidity rolling mills. Background Technology

[0002] Modular rolling mills and reducing sizing units are commonly used in hot rolling production lines, such as high-speed, high-rigidity lines for bar and wire rod, and steel pipe production lines, to roll finished products at high speed. Their mill speeds are typically above 15 m / s, with high-speed bar production lines reaching 45 m / s. As continuous rolling mill stands, their short stand spacing, high rolling speeds, and extremely short workpiece throughput make micro-tension control impossible. Due to limited space, there is no room for looper equipment, so looper control is also not feasible. Only a pre-set rolling mode can be used, where the mill has a pre-set speed matching relationship with micro-tension, and the speed setpoint is not adjusted during production. Because the drive system uses a single-drive mode with one motor corresponding to one set of rolls, the overall inertia of the mill is small. Facing the impact load of bite, the speed regulator of the frequency converter drive system has slow adjustment characteristics, often leading to excessive speed drop and overshoot, resulting in severe product head deviations and easily inducing steel piling accidents, resulting in very poor production stability.

[0003] Under these special process requirements, high-speed, high-rigidity rolling mill control is a necessary technical foundation to ensure stable and efficient production, and it is of utmost importance in production.

[0004] One existing technology for controlling high-speed, high-rigidity rolling mills involves increasing the steel pulling coefficient of each mill in the modular rolling mill and the sizing unit by the operator, thereby increasing the overall no-load and rolling speed of the mill to prevent steel piling caused by excessive speed reduction. The drawback of this existing technology is that while increasing the mill speed reduces the risk of steel piling to some extent, excessively high speed settings lead to severe distortion of the material shape at the mill head, resulting in non-compliant dimensions and scrap; in some cases, the distortion can be so great that the material cannot be bitten by downstream mills, causing a steel piling accident.

[0005] The second existing technology for controlling high-speed, high-rigidity rolling mills involves manually setting the mill's speed lead rate, then reducing the speed to normal rolling speed after the steel bites. The drawback of this second technology is that the distance between mills is extremely short, and the rolling speed is extremely high. Taking a typical distance of 2950mm and a rolling speed of 16.32m / s as an example, the time for the rolled piece to pass through is approximately 180ms. Furthermore, determining whether the mill has bitten the steel requires additional time, leaving even less time for adjusting the mill speed. The mill speed regulator cannot respond so quickly, thus its effectiveness is extremely limited. Summary of the Invention

[0006] This invention provides a control method for a high-speed, high-rigidity rolling mill, used to achieve timely torque compensation for the impact load during steel biting, thereby improving the control accuracy, rolling effect, and stability of the high-speed, high-rigidity rolling mill and avoiding steel piling accidents. The method includes: The system acquires the real-time linear velocity of the rolled piece at the exit of the first mill in a high-speed, high-rigidity production line and the torque feedback value of the mill. The real-time linear velocity is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line. The hot metal detector includes one or any combination of the hot metal detector at the exit of the first mill, the hot metal detector at the entrance of the second mill, and the hot metal detector at the exit of the second mill. The mill includes the first mill and / or the second mill. The second mill is a high-speed, high-rigidity mill. Based on the real-time linear velocity, the position of the second mill, and the position of the hot metal detector at the exit of the second mill, the first prediction time and the second prediction time are determined; the first prediction time is the predicted time when the head of the rolled piece bites into the second mill; the second prediction time is the predicted time when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. If, at the first prediction moment, the detection results show that there is steel at the hot metal detector at the exit of the first mill, steel at the entrance of the second mill, and no steel at the hot metal detector at the exit of the second mill, the compensation torque control window is opened. After the compensation torque control window is opened, the moment when the torque feedback value of the second mill is greater than the preset threshold is determined as the compensation torque input moment. Within the first preset duration, the compensation torque is controlled to be input into the second mill in a linear growth manner. The first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment. After the first preset time period, the compensation torque of the preset compensation torque value is continuously applied until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached. Then, the compensation torque control window is closed, and the compensation torque is controlled to be withdrawn from the preset compensation torque value to zero according to the preset gradient.

[0007] Another aspect of the present invention provides a high-speed, high-rigidity rolling mill control device for timely torque compensation of the impact load during steel biting, thereby improving the control accuracy, rolling effect, and stability of the high-speed, high-rigidity rolling mill and preventing steel piling accidents. The device includes: The real-time acquisition module is used to acquire the real-time linear speed of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill. The real-time linear speed is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line. The hot metal detector includes one or any combination of the hot metal detector at the exit of the first mill, the hot metal detector at the entrance of the second mill, and the hot metal detector at the exit of the second mill. The mill includes the first mill and / or the second mill. The second mill is a high-speed, high-rigidity mill. The prediction timing determination module is used to determine the first prediction timing and the second prediction timing based on the real-time linear speed, the position of the second mill, and the position of the hot metal detector at the exit of the second mill. The first prediction timing is the predicted moment when the head of the rolled piece bites into the second mill. The second prediction timing is the predicted moment when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. The compensation torque control window opening module is used to open the compensation torque control window if the detection results at the first prediction time indicate that there is steel at the hot metal detector at the exit of the first mill, steel at the hot metal detector at the entrance of the second mill, and no steel at the hot metal detector at the exit of the second mill. The compensation torque input module is used to determine the moment when the torque feedback value of the second mill is greater than a preset threshold after the compensation torque control window is opened as the compensation torque input moment, and to control the compensation torque to be input into the second mill in a linearly increasing manner within a first preset duration; the first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment; The compensation torque cancellation module is used to continuously apply a compensation torque of a preset value after a first preset time period until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached. Then, the compensation torque control window is closed, and the compensation torque is controlled to be cancelled from the preset compensation torque value to zero according to a preset gradient.

[0008] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described high-speed, high-rigidity rolling mill control method.

[0009] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described high-speed, high-rigidity rolling mill control method.

[0010] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described high-speed, high-rigidity rolling mill control method.

[0011] Compared with the existing high-speed, high-rigidity rolling mill control technology, this invention obtains the real-time linear velocity of the rolled piece at the exit of the first rolling mill and the torque feedback value of the rolling mill in a high-speed, high-rigidity production line. The real-time linear velocity is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line. The hot metal detector includes one or any combination of the hot metal detector at the exit of the first rolling mill, the hot metal detector at the entrance of the second rolling mill, and the hot metal detector at the exit of the second rolling mill. The rolling mill includes a first rolling mill and / or a second rolling mill. The second rolling mill is a high-speed, high-rigidity rolling mill. Based on the real-time linear velocity, the position of the second rolling mill, and the position of the hot metal detector at the exit of the second rolling mill, a first prediction time and a second prediction time are determined. The first prediction time is the predicted time when the head of the rolled piece bites into the second rolling mill. The second prediction time is the predicted time when the head of the rolled piece bites into the hot metal detector at the exit of the second rolling mill. If the detection result at the first prediction time is... When steel is detected at the hot metal detector at the mill exit, at the hot metal detector at the second mill inlet, and when no steel is detected at the hot metal detector at the second mill exit, the compensation torque control window is opened. The moment when the torque feedback value of the second mill exceeds a preset threshold after the compensation torque control window is opened is defined as the compensation torque activation moment. Within a first preset duration, the compensation torque is controlled to be activated in the second mill in a linearly increasing manner. The first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque activation moment. After the first preset duration, the compensation torque of the preset compensation torque value is continuously activated until the detection result shows that there is steel at the hot metal detector at the second mill exit, or the second prediction moment is reached. At this time, the compensation torque control window is closed, and the compensation torque is controlled to be withdrawn from the preset compensation torque value to zero according to the preset gradient. This can realize timely torque compensation for the impact load when the rolled piece bites, improve the control accuracy, rolling effect and stability of the high-speed, high-rigidity mill, and avoid steel piling accidents. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a flowchart of the high-speed, high-rigidity rolling mill control method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the configuration of high-speed, high-rigidity production line process equipment in an embodiment of the present invention; Figure 3 This is a schematic diagram of the high-speed, high-rigidity rolling mill control system in an embodiment of the present invention; Figure 4This is a schematic diagram of the workpiece head tracking and detection in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the precise tracking of the workpiece head and bite load during high-speed rolling in an embodiment of the present invention. Figure 6 This is a flowchart illustrating the determination of the compensation torque control window in an embodiment of the present invention. Figure 7 This is a timing diagram of the entire process of high-speed, high-rigidity rolling mill control in an embodiment of the present invention; Figure 8 This is an example diagram of a high-speed, high-rigidity rolling mill control device in an embodiment of the present invention; Figure 9 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0014] The present invention aims to propose a high-speed, high-rigidity rolling mill control method, device, and system. It adopts a basic automation system and a variable frequency drive control system for coordinated control. By predicting the moment of impact load when the workpiece head bites in and accurately setting the timing of compensation torque application and withdrawal, it achieves rapid torque compensation for sudden loads, thereby avoiding drastic fluctuations in rolling mill speed, improving the overall rigidity of the rolling mill, and thus enhancing rolling effect and stability.

[0015] Figure 1 This is a flowchart of the high-speed, high-rigidity rolling mill control method in an embodiment of the present invention, such as... Figure 1 As shown, the method includes: Step 101: Real-time acquisition of the real-time linear velocity of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill; the real-time linear velocity is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line; the hot metal detector includes one or any combination of the hot metal detector at the exit of the first mill, the hot metal detector at the entrance of the second mill, and the hot metal detector at the exit of the second mill; the mill includes the first mill and / or the second mill; the second mill is a high-speed, high-rigidity mill; Step 102: Determine the first prediction time and the second prediction time based on the real-time linear speed, the position of the second mill, and the position of the hot metal detector at the exit of the second mill; the first prediction time is the predicted time when the head of the rolled piece bites into the second mill; the second prediction time is the predicted time when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. Step 103: If, at the first prediction time, the detection results show that there is steel at the hot metal detector at the exit of the first mill, steel at the inlet of the second mill, and no steel at the hot metal detector at the exit of the second mill, open the compensation torque control window. Step 104: The moment when the torque feedback value of the second mill is greater than the preset threshold after the compensation torque control window is opened is determined as the compensation torque input moment. The compensation torque is controlled to be input into the second mill in a linear growth manner within a first preset duration. The first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment. Step 105: After the first preset time period, continue to apply the compensation torque of the preset compensation torque value until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached. Then, close the compensation torque control window and control the compensation torque to be withdrawn from the preset compensation torque value to zero according to the preset gradient.

[0016] The embodiments of the present invention can achieve timely torque compensation for the impact load when the rolled piece bites the steel through the above steps, thereby improving the control accuracy, rolling effect and stability of high-speed and high-rigidity rolling mills and avoiding steel piling accidents.

[0017] Figure 2 This is a schematic diagram of the configuration of high-speed, high-rigidity production line process equipment in an embodiment of the present invention, such as... Figure 2 As shown, the high-speed, high-rigidity production line equipment configuration in this embodiment of the invention includes a 16# conventional rolling mill, a 17# high-speed, high-rigidity rolling mill, an 18# high-speed, high-rigidity rolling mill, and a 19# high-speed, high-rigidity rolling mill. Figure 2 This illustration only shows the configuration of three high-speed, high-rigidity rolling mills; the specific number can be adjusted according to actual needs. Hot metal detectors are installed at the exit of the No. 16 conventional rolling mill, and at the entrance and exit of each high-speed, high-rigidity rolling mill. Figure 2 The rolling process is divided into three stages: hot inspection 10 and hot inspection 40. The rolled pieces are then processed by the No. 16 conventional mill, the No. 17 high-speed high-rigidity mill, the No. 18 high-speed high-rigidity mill, and the No. 19 high-speed high-rigidity mill before being output, marking the end of the rolling process. A frequency converter supporting the DP-V1 protocol drives the high-speed high-rigidity mills, enabling speed and torque control throughout the rolling process.

[0018] Figure 3 This is a schematic diagram of the high-speed, high-rigidity rolling mill control system in an embodiment of the present invention, as shown below. Figure 3 As shown, the high-speed, high-rigidity rolling mill control system is in Figure 2Based on this foundation, a PLC (Programmable Logic Controller) control system, a human-machine interface (such as a PDA (Personal Digital Assistant) or HMI (Human Machine Interface)), a network system, and field detection components are added. To ensure rapid signal processing and computation, the PLC control system adopts a 1ms scan cycle, and all field input and output signals are directly connected to the controller via hardwired connections, eliminating the impact of network latency. Communication with the frequency converter is achieved via IRT (Isochronous Real-Time Communication) fieldbus, with a data exchange time of 1ms. Fiber optic level-type hot metal detectors with a signal response time of 2ms are installed at both the inlet and outlet of the high-speed, high-rigidity rolling mill.

[0019] Head tracking of the rolled piece is fundamental to subsequent control. Because the rolled piece undergoes forward slippage during high-speed rolling, this value is limited by many factors and cannot be measured precisely. Therefore, simply using the mill roll speed cannot accurately calculate the rolled piece speed. This invention employs a combined speed measurement and prediction method. Two speed measuring and thermal detection sensors are installed after the mill to avoid the forward slippage caused by head compression, directly measuring the actual head speed of the rolled piece and thus accurately pre-positioning it. A rapid torque determination is used to determine the bite load of the rolled piece head (i.e., whether the rolled piece head is in position and biting into the mill). Figure 4 This is a schematic diagram of the workpiece head tracking and detection in an embodiment of the present invention, as shown below. Figure 4 As shown, taking the control of the No. 17 high-speed, high-rigidity rolling mill as an example, it is necessary to analyze the data from the No. 16 conventional rolling mill, the hot metal detector at the exit of the No. 16 conventional rolling mill, and the hot metal detectors at the entrance and exit of the No. 17 high-speed, high-rigidity rolling mill. It should be noted that if control of the No. 18 high-speed, high-rigidity rolling mill (the mill to be controlled, the second mill) is required, then the No. 17 high-speed, high-rigidity rolling mill (the mill adjacent upstream of the mill to be controlled) replaces the No. 16 conventional rolling mill (the first mill) in this embodiment of the invention, and the hot metal detectors are replaced accordingly; this will not be elaborated further here.

[0020] Figure 5 This is a flowchart illustrating the precise tracking of the workpiece head and bite load during high-speed rolling in an embodiment of the present invention. Figure 5As shown, the precise tracking process for the head and bite load of a rolled piece under high-speed rolling can include: obtaining the expected linear velocity and expected forward slip of the rolled piece exiting the 16# (conventional) mill based on the rolling regime information; marking the current time T1 when the hot inspection 10 detects the rolled piece; marking the current time T2 when the hot inspection 11 detects the rolled piece; calculating the actual linear velocity of the rolled piece exiting the 16# conventional mill; updating and recording the actual forward slip of the 16# conventional mill; estimating the head bite-in time T3 based on the actual linear velocity of the rolled piece; estimating the head arrival time T9 at the hot inspection 20 based on the actual linear velocity of the rolled piece; detecting whether the torque feedback value of the 17# high-speed high-rigidity mill is greater than a preset threshold; if so, the head load bites in, recording the actual head load bite-in time T4 at the 17# high-speed high-rigidity mill; recording and updating the time difference T between the head bite-in and load application based on the difference between T3 and T4. ht At the same time, update the historical average value T. htp If not, check whether the torque feedback value of the No. 17 high-speed high-rigidity rolling mill is greater than 1.5 times the no-load torque, and T ht Greater than 2 times T htp If the head load bites in, record the actual head load biting into the 17# high-speed, high-rigidity rolling mill at time T4, but do not record the time difference T. ht Do not update historical average T htp .

[0021] In one embodiment, before step 101: real-time acquisition of the real-time linear velocity of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill, the high-speed, high-rigidity mill control method may further include: acquiring the detection results of the hot metal detector in the high-speed, high-rigidity production line; determining the real-time linear velocity of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line based on the detection results of the hot metal detector at the exit of the first mill, the detection results of the hot metal detector at the entrance of the second mill, the distance between the hot metal detector at the exit of the first mill and the hot metal detector at the entrance of the second mill.

[0022] In this embodiment, as Figure 5As shown, when hot metal detector 10 (hot metal detector at the exit of the first mill) detects a workpiece, the current time T1 is marked (the moment when the detection result of the hot metal detector at the exit of the first mill indicates that there is steel at the hot metal detector at the exit of the first mill); when hot metal detector 11 (hot metal detector at the entrance of the second mill) detects a workpiece, the current time T2 is marked (the moment when the detection result of the hot metal detector at the entrance of the second mill indicates that there is steel at the hot metal detector at the entrance of the second mill); based on T1, T2 and the distance between the hot metal detector at the exit of the first mill and the hot metal detector at the entrance of the second mill, the actual linear velocity (real-time linear velocity) of the workpiece at the exit of the 16# conventional mill (first mill) is calculated.

[0023] In one embodiment, before step 101: real-time acquisition of the real-time linear speed of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill, the high-speed, high-rigidity mill control method may further include: acquiring rolling regime information of the high-speed, high-rigidity production line; determining the expected linear speed and expected forward slip of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line based on the rolling regime information; when the hot metal detector at the exit of the first mill and / or the hot metal detector at the entrance of the second mill malfunctions, determining the real-time linear speed of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line based on the expected linear speed and expected forward slip; when the hot metal detector at the exit of the first mill and the hot metal detector at the entrance of the second mill are not malfunctioning, correcting the expected forward slip based on the real-time linear speed determined by the detection results of the hot metal detectors in the high-speed, high-rigidity production line.

[0024] In this embodiment, as Figure 5 As shown, based on the rolling regime information, the expected linear velocity and expected forward slip of the workpiece exiting the No. 16 (conventional) mill are obtained. During the first rolling run, due to the lack of historical experience, the expected linear velocity and expected forward slip need to be determined based on the rolling regime information. The real-time linear velocity of the workpiece at the first mill exit can then be obtained from these values. However, since there is always an error between the expected and actual values, the detection results from the hot metal detector are more accurate. When obtaining the real-time linear velocity of the workpiece at the first mill exit, the detection results from the hot metal detector in the high-speed, high-rigidity production line are given priority. The expected forward slip can also be corrected based on the real-time linear velocity determined by the hot metal detector in the high-speed, high-rigidity production line. When the hot metal detector at the first mill exit and / or the hot metal detector at the second mill entrance malfunction, the real-time linear velocity of the workpiece at the first mill exit in the high-speed, high-rigidity production line needs to be determined based on the expected linear velocity and expected forward slip (or the corrected expected forward slip).

[0025] In one embodiment, the moment when the torque feedback value of the second rolling mill exceeds a preset threshold after the compensation torque control window is opened is defined as the compensation torque activation moment. Controlling the compensation torque to be activated in the second rolling mill in a linearly increasing manner within a first preset duration may include: acquiring historical first prediction moments and historical compensation torque activation moments from historical rolling processes on a high-speed, high-rigidity production line; determining the average value of the time difference between the historical first prediction moment and the historical compensation torque activation moment based on the historical first prediction moment and the historical compensation torque activation moment; determining a multiple of the average value as the first preset duration; defining the moment when the torque feedback value of the second rolling mill exceeds a preset threshold after the compensation torque control window is opened as the compensation torque activation moment; and controlling the compensation torque to be activated in the second rolling mill in a linearly increasing manner from zero to a preset compensation torque value within the first preset duration starting from the compensation torque activation moment.

[0026] In this embodiment, the following is performed during the historical rolling process on a high-speed, high-rigidity production line: Figure 5 The process shown here indicates that T3 is the historical first prediction time, and T4 is the historical compensation torque activation time. Based on the historical first prediction time and the historical compensation torque activation time, the time difference between the historical first prediction time and the historical compensation torque activation time is determined, and the average of the time differences is T. htp For each rolling process where the torque feedback value of the No. 17 high-speed, high-rigidity rolling mill exceeds the preset threshold, the time difference between T3 and T4 is calculated, and T is updated. htp .

[0027] In this embodiment, as Figure 5 As shown, if the torque feedback value of the No. 17 high-speed high-rigidity rolling mill is not greater than the preset threshold during a single rolling process, but the torque feedback value of the No. 17 high-speed high-rigidity rolling mill is greater than 1.5 times the no-load torque, and T tp Greater than 2 times T htp Although the head load was engaged, and the actual head load engagement time at the 17# high-speed, high-rigidity mill was recorded at T4, the time difference T was not recorded due to poor rolling performance. ht Do not update historical average T htp .

[0028] In this embodiment, the compensation torque is used to offset the impact load caused by the bite of the workpiece head on the basis of the existing output of the frequency conversion drive. If the compensation torque is not applied at the right time, it will cause the workpiece to accelerate unexpectedly, which will have a great impact on the safety of the equipment. Therefore, the compensation torque control needs to be applied within the "window period". The calculation of opening and closing the compensation torque control window is particularly important.

[0029] First, we will introduce the preset compensation torque value (maximum value) that needs to be applied.

[0030] In one embodiment, after opening the compensation torque control window, the moment when the torque feedback value of the second rolling mill exceeds a preset threshold is determined as the compensation torque activation moment. Before controlling the compensation torque to be activated in the second rolling mill in a linearly increasing manner within a first preset time period, the high-speed, high-rigidity rolling mill control method may further include: determining the initial value of the compensation torque based on one or any combination of the following: the average unit deformation resistance of the metal at the rolling temperature, the rolling cross-sectional area, the deformation resistance correction coefficient, the working radius of the roll, the bearing friction coefficient, the roll journal radius, the moment of inertia of the motor shaft, and the angular acceleration of the motor shaft, as provided in the rolling regime information; obtaining the historical average rolling torque, the historical maximum rolling torque, and the historical minimum rolling torque of the high-speed, high-rigidity production line according to the initial value of the compensation torque; and determining the preset compensation torque value based on the historical average rolling torque, the historical maximum rolling torque, and the historical minimum rolling torque.

[0031] In this embodiment, the compensation torque can be automatically optimized, and its initial value is set according to 20% of the motor torque calculated by the process.

[0032] The formula for calculating motor torque based on the process is as follows: T 电机 = T 轧制 + T 摩擦 + T 加速 ; T 轧制 = F R / 2; T 摩擦 = f F r 轴 ; F = σ s A K ; T 加速 = J 总 α ; in, T 电机 The initial value of the compensation torque can be set to the motor torque calculated according to the process.T 电机 20%; T 轧制 This refers to the rolling torque; T 摩擦 This is the frictional torque; T 加速 The accelerating torque is F; the total rolling force (N) can be obtained from the above empirical formula. F = σ s A K Estimate, among which, σ s This is the average resistance to deformation per unit area of ​​the metal at the rolling temperature (MPa), which can be obtained from a table or through experiments; A The area of ​​the rolled cross-section (m²) K This is the deformation resistance correction factor (considering strain, strain rate, temperature, etc., typically 1.0~1.5). R is the working radius of the roll (m). R = R 0-( h 0- h f ) / 2, where, R 0 represents the original radius of the roll. h 0、 h f The inlet and outlet thicknesses are given; these parameters can be obtained from the roll outline drawing. F is the bearing friction coefficient (approximately 0.005~0.01 for rolling bearings and 0.01~0.03 for sliding bearings); r-axis is the roll journal radius (m), which can also be obtained from the roll outline drawing. J 总 The (total) moment of inertia (kg·m²) is (converted) to the motor shaft. α ω is angular acceleration (rad / s²).

[0033] In practical applications, the parameter tuning method is as follows: After the first workpiece enters the stable rolling process, record the average value T of the actual rolling torque. average Maximum value T max Minimum value T min Its average rolling torque T average As a reference value for the rolling torque of the next piece; The compensation torque for the next rolled piece will no longer be compensated using the motor torque from the process technology; its calculation method is as follows: T 补偿力矩 =0.2 T average -(T) max +Tmin ) / 2.

[0034] As the number of rolls increases, the aforementioned compensation torque gradually stabilizes by averaging the data through filtering, gradually approaching the median value of the normal rolling torque.

[0035] Because the high-speed rolling process has extremely strict requirements for response time, in this embodiment of the invention, the PLC control system sends the "control window" of the compensation torque value, the timing of compensation torque activation and deactivation to the frequency converter. The compensation torque is then determined by the frequency converter itself and directly activated and deactivated to achieve rapid compensation and deactivation of torque load impact. At the same time, through the logic judgment of the PLC control system, safety protection is achieved under unconventional conditions. Figure 6 This is a flowchart illustrating the determination of the compensation torque control window in an embodiment of the present invention, as follows: Figure 6 As shown, the calculation process of the compensation torque control window includes: steel in hot inspection 10; steel in both hot inspection 10 and hot inspection 11; delay "expected head biting into the mill time T3", and no steel in hot inspection 20; open the compensation torque control window; determine whether the torque feedback value is greater than the set biting threshold value (preset threshold). If so, the frequency converter puts on the set "compensation torque", determine whether steel is in hot inspection 20 or "expected head reaching hot inspection 20 time T9" is reached. If so, close the compensation torque control window; no steel in hot inspection 10; no steel in hot inspection 10, and no steel in both hot inspection 11 and hot inspection 20; the rolling of this piece ends.

[0036] It should be noted that within the compensation torque control window, the actual torque feedback used to determine the mill load uses real-time torque feedback without filtering. Outside the compensation torque control window, the actual torque feedback used to determine the mill load uses real-time torque feedback with filtering (3~6ms).

[0037] In one embodiment, the preset gradient is determined based on the dynamic recovery time of the variable frequency drive; the variable frequency drive is used to control the second rolling mill; the dynamic recovery time is the time it takes for the speed loop in the variable frequency drive to complete the closed-loop adjustment of the speed deviation.

[0038] Figure 7 This is a timing diagram of the entire process of high-speed, high-rigidity rolling mill control in an embodiment of the present invention, as shown below. Figure 7 As shown, the load impact at the head of the workpiece bites in is a rapid increase and maintenance of the load within a very short time, and the compensation torque also changes according to the change of the impact load at the head of the workpiece. When the compensation torque control window is closed, the compensation torque will gradually soften and withdraw, that is, it will be gradually replaced by the speed loop adjustment of the frequency converter to meet the needs of mill speed regulation.

[0039] For products of different rolling specifications, the compensation torque is determined by process calculation and actual observation (calculated according to the above steps, which will not be repeated here), and can also be set and adjusted by the operator on the HMI.

[0040] like Figure 7 As shown, when the real-time (actual) linear velocity of the rolled piece at the exit of the first rolling mill fluctuates, such as... Figure 7 The third timing waveform in the middle represents the load impact when the rolled piece bites into the head, triggering a signal to open the compensation torque control window, as shown below. Figure 7 The first timing waveform is shown in the figure.

[0041] After the compensation torque control window is opened, the input of the compensation torque increases at a slope, that is, at twice the "historical average value T". htp Within this range, the torque increases from zero to the full compensation torque value (preset compensation torque value), while maintaining T. LT Duration. The cancellation of the compensating torque decreases with the slope, i.e., at T... CX Within, it gradually decreases with a gradient of 2 times Δt, where: T LT The duration of the compensation torque, measured in seconds (s), begins when the compensation torque reaches a preset value and ends when the detection result indicates the presence of steel at the hot metal detector at the second mill exit, or at the second predicted time. Additionally, it can be set according to actual production conditions. (T) CX The compensation torque cancellation time, measured in seconds (s), begins when the detection result indicates the presence of steel at the hot metal detector at the second mill exit or at the second predicted time, and ends when the compensation torque gradually decreases to 0 with a gradient of 2 times Δt. Alternatively, it can be set according to actual production conditions. Δt represents the dynamic recovery time of the frequency converter drive, i.e., the time it takes for the speed loop of the frequency converter drive to complete the closed-loop adjustment of the speed deviation. Within this time, speed fluctuations occur. After this time, the speed deviation correction is complete. This time is determined and maintained during the commissioning of the frequency converter drive.

[0042] This invention also provides a high-speed, high-rigidity rolling mill control device, as described in the following embodiments. Since the principle by which this device solves the problem is similar to that of the high-speed, high-rigidity rolling mill control method, the implementation of this device can refer to the implementation of the high-speed, high-rigidity rolling mill control method; repeated details will not be elaborated further.

[0043] Figure 8 This is a structural diagram of the high-speed, high-rigidity rolling mill control device in an embodiment of the present invention, as shown below. Figure 8 As shown, the device includes: The real-time acquisition module 801 is used to acquire the real-time linear speed of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill. The real-time linear speed is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line. The hot metal detector includes one or any combination of the hot metal detector at the exit of the first mill, the hot metal detector at the entrance of the second mill, and the hot metal detector at the exit of the second mill. The mill includes the first mill and / or the second mill. The second mill is a high-speed, high-rigidity mill. The prediction timing determination module 802 is used to determine a first prediction timing and a second prediction timing based on the real-time linear speed, the position of the second mill, and the position of the hot metal detector at the exit of the second mill. The first prediction timing is the predicted timing when the head of the rolled piece bites into the second mill. The second prediction timing is the predicted timing when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. The compensation torque control window opening module 803 is used to open the compensation torque control window if the detection results at the first prediction time indicate that there is steel at the hot metal detector at the exit of the first mill, steel at the hot metal detector at the entrance of the second mill, and no steel at the hot metal detector at the exit of the second mill. The compensation torque input module 804 is used to determine the moment when the torque feedback value of the second mill is greater than a preset threshold after the compensation torque control window is opened as the compensation torque input moment, and to control the compensation torque to be input into the second mill in a linearly increasing manner within a first preset duration; the first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment. The compensation torque cancellation module 805 is used to continuously apply a compensation torque of a preset compensation torque value after a first preset time period until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached, then close the compensation torque control window and control the compensation torque to be cancelled from the preset compensation torque value to zero according to a preset gradient.

[0044] In one embodiment, the high-speed, high-rigidity rolling mill control device may further include: a real-time linear velocity determination module, used for: Obtain the detection results of the hot metal detector in a high-speed, high-rigidity production line; Based on the detection results of the hot metal detector at the exit of the first mill, the time when there is steel at the hot metal detector at the exit of the first mill, the detection results of the hot metal detector at the entrance of the second mill, the time when there is steel at the hot metal detector at the entrance of the second mill, and the distance between the hot metal detectors at the exit of the first mill and the entrance of the second mill, the real-time linear velocity of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line is determined.

[0045] In one embodiment, the high-speed, high-rigidity rolling mill control device may further include: a correction module, used for: Obtain rolling process information for high-speed, high-rigidity production lines; Based on the rolling system information, determine the expected linear velocity and expected forward slip of the workpiece at the exit of the first rolling mill in the high-speed, high-rigidity production line. When the hot metal detector at the exit of the first mill and / or the hot metal detector at the entrance of the second mill malfunctions, the real-time linear velocity of the workpiece at the exit of the first mill in the high-speed, high-rigidity production line is determined based on the expected linear velocity and the expected forward slip. When the hot metal detector at the exit of the first mill and the hot metal detector at the entrance of the second mill are not faulty, the expected forward slip is corrected based on the real-time linear speed determined by the detection results of the hot metal detector in the high-speed, high-rigidity production line.

[0046] In one embodiment, the compensation torque input module 804 is specifically used for: Obtain the first historical prediction moment and the historical compensation torque input moment of the high-speed, high-rigidity production line's historical rolling process; Based on the historical first prediction time and the historical compensation torque input time, determine the average time difference between the historical first prediction time and the historical compensation torque input time; The first preset duration is determined by a multiple of the average value; After the compensation torque control window is opened, the moment when the torque feedback value of the second mill is greater than the preset threshold is determined as the moment when the compensation torque is activated. Within a first preset time period starting from the moment the compensation torque is applied, the compensation torque is controlled to increase linearly from zero to the preset compensation torque value and then applied to the second rolling mill.

[0047] In one embodiment, the high-speed, high-rigidity rolling mill control device may further include: a preset compensation torque value determination module, used for: The initial value of the compensation torque is determined based on one or any combination of the following: the average unit deformation resistance of the metal at the rolling temperature, the rolling cross-sectional area, the deformation resistance correction coefficient, the working radius of the roll, the bearing friction coefficient, the roll journal radius, the moment of inertia of the motor shaft, and the angular acceleration of the motor shaft, as provided in the rolling regime information. Obtain the historical average rolling torque, historical maximum rolling torque, and historical minimum rolling torque of the high-speed, high-rigidity production line based on the initial value of the compensation torque. The preset compensation torque value is determined based on the historical average rolling torque, the historical maximum rolling torque, and the historical minimum rolling torque.

[0048] In one embodiment, the preset gradient is determined based on the dynamic recovery time of the variable frequency drive; the variable frequency drive is used to control the second rolling mill; the dynamic recovery time is the time it takes for the speed loop in the variable frequency drive to complete the closed-loop adjustment of the speed deviation.

[0049] Figure 9 This is a schematic diagram of a computer device in an embodiment of the present invention. Based on the foregoing inventive concept, as follows... Figure 9 As shown, the present invention also proposes a computer device 900, including a memory 901, a processor 902, and a computer program 903 stored in the memory 901 and executable on the processor 902. When the processor 902 executes the computer program 903, it implements the aforementioned high-speed, high-rigidity rolling mill control method.

[0050] Based on the aforementioned inventive concept, the present invention proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned high-speed, high-rigidity rolling mill control method.

[0051] Based on the aforementioned inventive concept, the present invention proposes a computer program product, which includes a computer program that, when executed by a processor, implements a high-speed, high-rigidity rolling mill control method.

[0052] Compared with the existing high-speed, high-rigidity rolling mill control technology, this invention obtains the real-time linear velocity of the rolled piece at the exit of the first rolling mill and the torque feedback value of the rolling mill in a high-speed, high-rigidity production line. The real-time linear velocity is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line. The hot metal detector includes one or any combination of the hot metal detector at the exit of the first rolling mill, the hot metal detector at the entrance of the second rolling mill, and the hot metal detector at the exit of the second rolling mill. The rolling mill includes a first rolling mill and / or a second rolling mill. The second rolling mill is a high-speed, high-rigidity rolling mill. Based on the real-time linear velocity, the position of the second rolling mill, and the position of the hot metal detector at the exit of the second rolling mill, a first prediction time and a second prediction time are determined. The first prediction time is the predicted time when the head of the rolled piece bites into the second rolling mill. The second prediction time is the predicted time when the head of the rolled piece bites into the hot metal detector at the exit of the second rolling mill. If the detection result at the first prediction time is... When steel is detected at the hot metal detector at the mill exit, at the hot metal detector at the second mill inlet, and when no steel is detected at the hot metal detector at the second mill exit, the compensation torque control window is opened. The moment when the torque feedback value of the second mill exceeds a preset threshold after the compensation torque control window is opened is defined as the compensation torque activation moment. Within a first preset duration, the compensation torque is controlled to be activated in the second mill in a linearly increasing manner. The first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque activation moment. After the first preset duration, the compensation torque of the preset compensation torque value is continuously activated until the detection result shows that there is steel at the hot metal detector at the second mill exit, or the second prediction moment is reached. At this time, the compensation torque control window is closed, and the compensation torque is controlled to be withdrawn from the preset compensation torque value to zero according to the preset gradient. This can realize timely torque compensation for the impact load when the rolled piece bites, improve the control accuracy, rolling effect and stability of the high-speed, high-rigidity mill, and avoid steel piling accidents.

[0053] This invention proposes a high-speed, high-rigidity rolling mill control method, device, and system. Specifically, it provides a precise tracking method for the head and bite load of the rolled piece under high-speed rolling, a method for calculating the compensation torque control window, and a method for controlling the application and removal of the compensation torque. By employing a basic automation system and a frequency converter drive control device for coordinated control, and through precise tracking of the head and bite impact load of the rolled piece and precise tuning of the timing of compensation torque application and removal, rapid torque compensation for sudden loads is achieved. This avoids drastic fluctuations in the rolling mill speed, improves the overall rigidity of the rolling mill, and thus enhances the rolling effect and stability. It has a wide range of applications and application value in high-speed steel rolling production lines.

[0054] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a high-speed, high-rigidity rolling mill, characterized in that, include: Real-time linear velocity of the rolled piece at the exit of the first rolling mill in a high-speed, high-rigidity production line and torque feedback value of the rolling mill are obtained. The real-time linear speed is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line; the hot metal detector includes one or any combination of the hot metal detector at the exit of the first rolling mill, the hot metal detector at the entrance of the second rolling mill, and the hot metal detector at the exit of the second rolling mill; the rolling mill includes a first rolling mill and / or a second rolling mill; the second rolling mill is a high-speed, high-rigidity rolling mill; Based on the real-time linear velocity, the position of the second mill, and the position of the hot metal detector at the exit of the second mill, a first prediction time and a second prediction time are determined; the first prediction time is the predicted time when the head of the rolled piece bites into the second mill; the second prediction time is the predicted time when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. If, at the first prediction time, the detection result indicates that there is steel at the hot metal detector at the first mill exit, steel at the hot metal detector at the second mill inlet, and no steel at the hot metal detector at the second mill exit, the compensation torque control window is opened. After opening the compensation torque control window, the moment when the torque feedback value of the second mill is greater than the preset threshold is determined as the compensation torque input moment. Within a first preset duration, the compensation torque is controlled to be input into the second mill in a linearly increasing manner. The first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment. After the first preset time period, the compensation torque of the preset compensation torque value is continuously applied until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached. Then, the compensation torque control window is closed, and the compensation torque is controlled to be withdrawn from the preset compensation torque value to zero according to the preset gradient.

2. The method as described in claim 1, characterized in that, Before acquiring the real-time linear velocity of the rolled piece at the exit of the first rolling mill in the high-speed, high-rigidity production line and the torque feedback value of the rolling mill, the following steps are also included: Obtain the detection results of the hot metal detector in the high-speed, high-rigidity production line; Based on the detection results of the hot metal detector at the first mill exit, the time when there is steel at the hot metal detector at the first mill exit, the detection results of the hot metal detector at the second mill entrance, the time when there is steel at the hot metal detector at the second mill entrance, and the distance between the hot metal detector at the first mill exit and the hot metal detector at the second mill entrance, the real-time linear velocity of the rolled piece at the first mill exit in the high-speed, high-rigidity production line is determined.

3. The method as described in claim 2, characterized in that, Before acquiring the real-time linear velocity of the rolled piece at the exit of the first rolling mill in the high-speed, high-rigidity production line and the torque feedback value of the rolling mill, the following steps are also included: Obtain rolling process information for high-speed, high-rigidity production lines; Based on the rolling system information, determine the expected linear velocity and expected forward slip of the workpiece at the exit of the first rolling mill in the high-speed, high-rigidity production line. When the hot metal detector at the exit of the first mill and / or the hot metal detector at the entrance of the second mill malfunctions, the real-time linear velocity of the workpiece at the exit of the first mill in the high-speed, high-rigidity production line is determined based on the expected linear velocity and the expected forward slip. When the hot metal detector at the exit of the first mill and the hot metal detector at the entrance of the second mill are not faulty, the expected forward slip is corrected based on the real-time linear velocity determined by the detection results of the hot metal detectors in the high-speed, high-rigidity production line.

4. The method as described in claim 1, characterized in that, After opening the compensation torque control window, the moment when the torque feedback value of the second rolling mill exceeds a preset threshold is determined as the moment when the compensation torque is activated. Within a first preset duration, the compensation torque is controlled to be activated in the second rolling mill in a linearly increasing manner, including: Obtain the first historical prediction time and the historical compensation torque input time of the high-speed, high-rigidity production line's historical rolling process; Based on the historical first prediction time and the historical compensation torque input time, determine the average time difference between the historical first prediction time and the historical compensation torque input time; The multiple of the average value is determined as the first preset duration; After the compensation torque control window is opened, the moment when the torque feedback value of the second mill is greater than the preset threshold is determined as the moment when the compensation torque is activated. Within a first preset time period starting from the moment the compensation torque is applied, the compensation torque is controlled to be applied to the second rolling mill in a linear manner from zero to a preset compensation torque value.

5. The method as described in claim 4, characterized in that, After opening the compensation torque control window, the moment when the torque feedback value of the second rolling mill exceeds a preset threshold is determined as the moment when the compensation torque is activated. Before activating the compensation torque in a linearly increasing manner within a first preset time period, the following steps are also included: The initial value of the compensation torque is determined based on one or any combination of the following: the average unit deformation resistance of the metal at the rolling temperature, the rolling cross-sectional area, the deformation resistance correction coefficient, the working radius of the roll, the bearing friction coefficient, the roll journal radius, the moment of inertia of the motor shaft, and the angular acceleration of the motor shaft, as provided in the rolling system information. Obtain the historical average rolling torque, the historical maximum rolling torque, and the historical minimum rolling torque of the high-speed, high-rigidity production line during historical rolling operations according to the initial compensation torque value; A preset compensation torque value is determined based on the historical average rolling torque, the historical maximum rolling torque, and the historical minimum rolling torque.

6. The method as described in claim 4, characterized in that, The preset gradient is determined based on the dynamic recovery time of the variable frequency drive; the variable frequency drive is used to control the second rolling mill; the dynamic recovery time is the time it takes for the speed loop in the variable frequency drive to complete the closed-loop adjustment of the speed deviation.

7. A high-speed, high-rigidity rolling mill control device, characterized in that, include: The real-time acquisition module is used to acquire the real-time linear velocity of the rolled piece at the exit of the first mill in the high-speed, high-rigidity production line and the torque feedback value of the mill. The real-time linear speed is determined based on the detection results of the hot metal detector in the high-speed, high-rigidity production line or the rolling regime information of the high-speed, high-rigidity production line; the hot metal detector includes one or any combination of the hot metal detector at the exit of the first rolling mill, the hot metal detector at the entrance of the second rolling mill, and the hot metal detector at the exit of the second rolling mill; the rolling mill includes a first rolling mill and / or a second rolling mill; the second rolling mill is a high-speed, high-rigidity rolling mill; The prediction timing determination module is used to determine a first prediction timing and a second prediction timing based on the real-time linear speed, the position of the second mill, and the position of the hot metal detector at the exit of the second mill; the first prediction timing is the predicted timing when the head of the rolled piece bites into the second mill; the second prediction timing is the predicted timing when the head of the rolled piece bites into the hot metal detector at the exit of the second mill. The compensation torque control window opening module is used to open the compensation torque control window if, at the first prediction time, the detection result indicates that there is steel at the hot metal detector at the first mill exit, steel at the hot metal detector at the second mill inlet, and no steel at the hot metal detector at the second mill exit. The compensation torque input module is used to determine the moment when the torque feedback value of the second rolling mill is greater than a preset threshold after the compensation torque control window is opened as the compensation torque input moment, and to control the compensation torque to be input into the second rolling mill in a linearly increasing manner within a first preset duration; the first preset duration is determined based on the average time difference between the historical first prediction moment and the historical compensation torque input moment; The compensation torque cancellation module is used to continuously apply a compensation torque of a preset compensation torque value after the first preset time period until the detection result shows that there is steel at the hot metal detector at the exit of the second rolling mill, or the second prediction time is reached, then close the compensation torque control window and control the compensation torque to be cancelled from the preset compensation torque value to zero according to a preset gradient.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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