A load impact compensation method, terminal, medium and product of a rolling mill main drive

Abstract

The application discloses a load impact compensation method for main drive of a rolling mill, a terminal, a medium and a product, and relates to the technical field of metallurgical equipment automation control. The method comprises the following steps: before biting steel, calculating an initial compensation speed according to an expected rolling torque and drive parameters and superimposing the initial compensation speed to a set speed; after detecting an effective steel content signal, making the compensation speed attenuate to zero according to a dynamic exponential law through damping control; and in the biting steel process, adaptively adjusting a feedforward gain coefficient and a damping time constant based on an actual speed deviation and a load torque until the dynamic speed drop control is within an allowed range. Through feedforward pre-compensation, damping buffering and parameter adaptation, the application significantly reduces the biting steel dynamic speed drop and torque impact, and improves the rolling stability and product quality.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for metallurgical equipment, and in particular to a method, terminal, medium, and product for compensating for load impact on the main drive of a rolling mill. Background Technology

[0002] As the core power unit of rolling production, the main drive system of a heavy plate rolling mill directly determines the dimensional accuracy of steel plate thickness, surface quality stability, and equipment reliability through the coordinated control precision of its speed and load. During actual rolling, when the steel plate contacts the rolls at a preset bite speed, the drive system, which was previously operating under no-load or light-load conditions, suddenly experiences an impact load composed of the steel plate's plastic deformation resistance and contact friction. This impact load causes a rapid increase in the motor's output torque within a short period, simultaneously triggering a momentary drop in motor speed (i.e., dynamic speed drop), thereby disrupting the speed slip balance between the rolls and the inlet and outlet roller tables, with a lag in speed recovery.

[0003] Such speed fluctuations not only cause quality defects such as steel plate warping and uneven thickness, but also exacerbate fatigue wear on mechanical transmission components and electrical equipment, affecting equipment lifespan and production safety, and increasing maintenance costs. Traditional control strategies, when dealing with steel biting impacts, rely on a primary controller for speed or torque lag compensation or static parameter fine-tuning, which has two major drawbacks: First, the response speed is lagging; traditional solutions only initiate compensation adjustment after detecting a decrease in speed or an increase in torque, failing to anticipate the impact and resulting in untimely dynamic speed reduction suppression and low compensation accuracy. Second, the compensation logic is simplistic; traditional solutions often use linear compensation methods with fixed parameters, which cannot adapt to the differences in impact loads under complex working conditions such as different steel grades, billet thicknesses, and rolling temperatures, easily leading to undercompensation or overcompensation. These problems make traditional control strategies unable to meet the real-time control requirements of modern heavy plate rolling for high strength, high precision, and high stability. Therefore, a solution is urgently needed that balances response speed, compensation accuracy, and working condition adaptability without changing the transmission hardware and core software. Summary of the Invention

[0004] To address the above problems, this invention provides a load impact compensation method for the main drive of a rolling mill. This method provides a speed compensation reserve before steel biting, rapidly and smoothly absorbs impact energy when an impact occurs, and adaptively adjusts compensation parameters based on real-time operating conditions. This significantly reduces the dynamic speed drop and torque impact during steel biting without changing the hardware and core software, thereby improving the stability of the rolling process and product quality.

[0005] In a first aspect, the present invention provides a method for load impact compensation of the main drive of a rolling mill, comprising: Before the steel bites, the initial compensation speed is calculated based on the expected rolling torque and the inherent parameters of the transmission system, and the initial compensation speed is superimposed on the set speed of the rolling mill. Once a valid steel-containing signal is detected, the initial compensation speed is gradually reduced to zero according to a dynamic exponential law through damping control, so that the compensation speed is smoothly withdrawn. During the steel biting process, based on the deviation between the actual speed and the set speed collected in real time, as well as the load torque signal, the feedforward gain coefficient and damping time constant are adaptively adjusted until the dynamic speed drop value is controlled within the allowable error range and the actual speed stabilizes to the set value.

[0006] Furthermore, the detection method for the effective steel-containing signal is as follows: the signal collected in real time by the rolling force sensor is filtered, and when the rolling force detection value of three consecutive scanning cycles exceeds the set threshold, it is determined to be an effective steel-containing signal.

[0007] By filtering the rolling force signal and judging the threshold for three consecutive scanning cycles, the accuracy and anti-interference ability of the steel-containing signal detection are significantly improved, ensuring that the compensation cancellation action is accurately triggered at the moment of actual steel bite, avoiding misjudgment or delay, thereby improving the reliability of the compensation process.

[0008] Furthermore, the formula for calculating the initial compensation velocity is as follows: ; in, K d This is the feedforward gain coefficient; T exp The desired rolling torque; J The total moment of inertia of the transmission system; The initial compensation velocity; This refers to the set angular velocity of the rolling mill.

[0009] The initial compensation speed is calculated based on the expected rolling torque and the inherent parameters of the system, so that the pre-compensation amount is precisely matched with the actual load impact requirements, effectively suppressing dynamic speed drop from the source and enhancing the pertinence and effectiveness of compensation.

[0010] Furthermore, the exponential decay law of the compensation speed is as follows: ; in, The damping time constant; Let be the compensation velocity at time t.

[0011] By employing an exponential decay law to achieve a smooth withdrawal of the compensation speed, secondary impacts caused by sudden speed changes are avoided, allowing the mill speed to smoothly transition to the set value and further improving the stability of the rolling process.

[0012] Furthermore, the specific rules for the adaptive adjustment are as follows: When speed deviation h Greater than or equal to the speed error threshold h allow This increases the feedforward gain coefficient while decreasing the damping time constant; When 0.5× h allow < h < h allow This increases the feedforward gain coefficient while decreasing the damping time constant; When 0.1× h allow ≤ h ≤0.5× h allow If so, the current rate of cancellation compensation will be maintained; when h <0.1× h allow If so, the compensation will be completely revoked; If the actual torque fluctuation exceeds the torque threshold, then the damping time constant should be increased separately.

[0013] By employing a multi-condition, hierarchical adaptive adjustment rule, the feedforward gain and damping time constant are dynamically optimized based on the magnitude of speed deviation and torque fluctuations. This enables the compensation parameters to adapt to different operating conditions, ensuring rapid convergence of dynamic speed reduction and stable system operation. Furthermore, it allows for precise correction of the compensation amount based on real-time speed deviations, thereby improving the accuracy and effectiveness of adaptive adjustment.

[0014] Furthermore, the formula for calculating the increased feedforward gain coefficient is as follows: ; in, K d This is the feedforward gain coefficient; This is the increased feedforward gain coefficient.

[0015] Secondly, the present invention also provides a computer terminal, comprising: Memory, which stores executable programs; A processor is configured to run the program, wherein the program executes the load impact compensation method for the main drive of a rolling mill during runtime.

[0016] Thirdly, the present invention also provides a computer-readable storage medium comprising a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the load impact compensation method for the main drive of a rolling mill.

[0017] Fourthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the load impact compensation method for the main drive of a rolling mill.

[0018] Compared with existing technologies, the beneficial effects of this invention are as follows: The impact compensation method of this invention has the advantages of fast response, stable compensation, and strong adaptability to working conditions. It adopts a rolling force signal triggering mechanism based on a fast channel, which can realize real-time identification and rapid response of impact. Combined with speed feedforward compensation, it actively intervenes before the impact occurs, fundamentally breaking through the passive lag limitation of traditional feedback control. At the same time, through dynamic damping continuous attenuation adjustment, it can not only accurately control the dynamic speed drop amplitude within the allowable error range, but also significantly smooth the peak torque impact, avoid the equipment from experiencing drastic stress changes, and ensure that the compensation process is stable and controllable. In addition, the parameter adaptive adjustment algorithm is adopted, which automatically optimizes the feedforward gain and damping parameters in combination with real-time speed and torque feedback, and can adapt to different specifications of steel plates and variable working conditions, effectively solving the adaptability limitations of traditional fixed parameter schemes. Ultimately, through the synergistic effect of speed feedforward predictive compensation, dynamic damping buffer adjustment, and parameter adaptive adjustment, the system significantly reduces the dynamic speed drop during the steel biting process and quickly and smoothly recovers to the set speed. This effectively suppresses steel plate head warping, improves product forming quality, reduces equipment impact loss, and extends the overall service life of the equipment. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this drawing 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 this drawing. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a functional block diagram of the control system of the load impact compensation method of the present invention; Figure 2 This is a schematic diagram of the impact curve during the steel biting process of the rolling mill as described in this invention; Figure 3 This is a complete flowchart of the load impact compensation method of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments provided by this invention without inventive effort are within the scope of protection of this invention.

[0022] This invention provides a method for load impact compensation of the main drive of a rolling mill, such as... Figure 1 As shown, it specifically includes: M1, initial feedforward velocity compensation: Before the steel bites, an initial compensation value higher than the reference speed is pre-added to the rolls to reserve speed margin in advance, offsetting the speed drop at the moment of bite and suppressing the impact amplitude. The secondary model system calculates the expected rolling torque for the current pass based on the process parameters of heavy plate rolling, combined with steel characteristics, billet size, and pass reduction regime. Then, it calculates the initial compensation speed by combining this with the inherent parameters of the transmission system; this is the extra speed energy pre-reserved for the rolls. The specific calculation formula is as follows: ; in, K d This is the feedforward gain coefficient, whose initial value is set according to the speed response characteristics of the transmission system and can be dynamically corrected thereafter. T exp The desired rolling torque; J The total moment of inertia of the transmission system includes the moments of inertia of the motor, rolls, and spindle; it is a fixed mechanical parameter. The initial compensation velocity; This refers to the set angular velocity of the rolling mill.

[0023] Before the billet contacts the rolls, the initial compensation speed is set. Superimposed on the target speed Above, so that the actual running speed of the roll is At this time, the roll is in a waiting state with a speed higher than the target speed. When the load changes suddenly at the moment of steel biting, this extra reserve of speed energy can directly offset the speed drop caused by the load, reduce the impact amplitude from the source, and effectively solve the problem of adjustment lag in the traditional solution.

[0024] M2, Dynamic Damping Control Canceled: like Figure 2As shown, after the rolling mill detects a valid steel-bearing signal, the compensation speed is gradually reduced through an inertial damping mechanism to ensure a smooth and shock-free withdrawal process, avoiding speed overshoot caused by excessive compensation. The valid steel-bearing signal is determined by filtering the signal collected by the rolling force sensor. When the detection value exceeds a set threshold for three consecutive scanning cycles, the billet is considered to have been stably bitten in. At this point, the initial compensation speed needs to be gradually withdrawn. To absorb impact energy in the optimal way.

[0025] If the traditional step-removal method is used, the roll speed will decrease from... sudden drop This not only triggers a secondary impact but also makes it difficult to quickly stabilize the actual speed to the set value. This invention employs an inertial damping element to achieve smooth retraction. Through an adjustable damping time constant, the compensation speed is adjusted from... The mathematical model for smooth decay to zero according to the dynamic exponential law is as follows: ; in, The larger the value, the smoother the retraction; the smaller the value, the faster the retraction. Let be the compensation velocity at time t.

[0026] The given velocity at this time is This ensures that the compensation cancellation process is smooth and that the impact energy is absorbed smoothly by the mechanical system, allowing the actual speed to quickly return to the set value.

[0027] M3, adaptive parameter adjustment: Based on real-time speed deviation and load torque signals during the steel biting process, damping control parameters are dynamically adjusted to adapt to different billet conditions, rolling temperatures, and reference speeds, thereby improving the versatility and accuracy of compensation. If the speed deviation is too large during the steel biting process, it indicates insufficient or excessive compensation, requiring dynamic adjustment of the damping attenuation rate; if the load torque changes abruptly, it indicates abnormal billet conditions, requiring timely adaptation of compensation parameters to ensure stability.

[0028] Because the magnitude of load mutations varies significantly under different operating conditions, a fixed damping time constant may lead to problems such as excessively slow retraction (causing speed overshoot) or excessively rapid retraction (still causing impact). Therefore, a speed deviation is introduced. (Target speed) Compared with actual speed The difference between the load torque peak and the load torque peak is used as a feedback signal to adaptively adjust the feedforward gain coefficient. K d and damping time constant The adjustment continues until the dynamic speed drop value is controlled within the allowable error range and the actual speed stabilization time is minimized. The specific adjustment rules are as follows: A. If h ≥ h allow (Allowable speed error threshold): Automatic adjustment of feedforward gain At the same time, gradually decrease the damping time constant. This is to increase the amount of compensation, accelerate the withdrawal speed, and strengthen the impact suppression effect.

[0029] B. If 0.5× h allow < h < h allow Automatic adjustment of feedforward gain At the same time, increase the damping time constant To avoid excessive compensation leading to speed overshoot.

[0030] C. If 0.1× h allow ≤h≤ 0.5× h allow Maintain the current rate of cancellation compensation.

[0031] D. If h <0.1× h allow Completely remove the impact compensation value to ensure stable system operation.

[0032] E. If the actual torque T act If the fluctuation exceeds the torque threshold: increase the damping time constant separately to prioritize torque stability and avoid excessive impact on the equipment.

[0033] like Figure 3 As shown, the complete execution flow of the method of the present invention is as follows: (1) Before each rolling pass, the controller receives the desired torque and set speed calculated by the secondary model system based on the rolling process parameters according to the current pass information, and sends them to the feedforward speed compensation module in the compensation algorithm. (2) The feedforward speed compensation module combines the inherent parameters of the transmission system and follows the formula Calculate the initial compensation velocity And add it to the set speed. The initial running speed of the rolls is obtained from the above. ; (3) Real-time acquisition of rolling force sensor signals, and continuous judgment after filtering: if the rolling force detected in three consecutive scanning cycles exceeds the set threshold, it is judged as "valid steel-containing signal" and the dynamic damping control module is triggered; (4) The dynamic damping control module starts the exponential decay algorithm, according to the formula Calculate the real-time compensation speed and update the speed setpoint. This allows for the smooth withdrawal of compensation. (5) The adaptive adjustment module collects the actual speed and rolling torque in real time and calculates the speed deviation. And determine the deviation range and torque threshold; (6) Dynamically correct the feedforward gain coefficient and damping time constant according to the aforementioned adjustment rules (A, B, C, D, E) to ensure that the dynamic speed drop is controlled within the allowable threshold range and that the actual speed is quickly stabilized to the set value. (7) Based on the deviation threshold between the actual speed and the set speed, when the actual speed meets the given speed requirement, all compensation speeds for this round are cancelled. (8) After the steel bite impact compensation is completed, the rolling process enters the stable rolling stage.

[0034] It should be noted that the present invention is not limited to the above-described embodiments. The above embodiments are merely examples, and any embodiments that have the same structure and perform the same effects as the technical concept within the scope of the present invention are included within the scope of the present invention. Furthermore, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways of constructing by combining some of the constituent elements of the embodiments, without departing from the spirit of the present invention, are also included within the scope of the present invention.

Claims

1. A method for compensating for load impact on the main drive of a rolling mill, characterized in that, include: Before the steel bites, the initial compensation speed is calculated based on the expected rolling torque and the inherent parameters of the transmission system, and the initial compensation speed is superimposed on the set speed of the rolling mill. Once a valid steel-containing signal is detected, the initial compensation speed is gradually reduced to zero according to a dynamic exponential law through damping control, so that the compensation speed is smoothly withdrawn. During the steel biting process, based on the deviation between the actual speed and the set speed collected in real time, as well as the load torque signal, the feedforward gain coefficient and damping time constant are adaptively adjusted until the dynamic speed drop value is controlled within the allowable error range and the actual speed stabilizes to the set value.

2. The method for load impact compensation of the main drive of a rolling mill according to claim 1, characterized in that, The detection method for the effective steel-containing signal is as follows: the signal collected in real time by the rolling force sensor is filtered, and when the rolling force detection value of three consecutive scanning cycles exceeds the set threshold, it is determined to be an effective steel-containing signal.

3. The method for load impact compensation of the main drive of a rolling mill according to claim 1, characterized in that, The formula for calculating the initial compensation velocity is: ； in, K d This is the feedforward gain coefficient; T exp The desired rolling torque; J The total moment of inertia of the transmission system; The initial compensation velocity; This refers to the set angular velocity of the rolling mill.

4. The method for load impact compensation of the main drive of a rolling mill according to claim 1, characterized in that, The exponential decay law of the compensation speed is as follows: ； in, The damping time constant; Let be the compensation velocity at time t.

5. The method for load impact compensation of the main drive of a rolling mill according to claim 1, characterized in that, The specific rules for the adaptive adjustment are as follows: When speed deviation h Greater than or equal to the speed error threshold h allow This increases the feedforward gain coefficient while decreasing the damping time constant; When 0.5× h allow < h < h allow This increases the feedforward gain coefficient while decreasing the damping time constant; When 0.1× h allow ≤ h ≤0.5× h allow If so, the current rate of cancellation compensation will be maintained; when h <0.1× h allow If so, the compensation will be completely revoked; If the actual torque fluctuation exceeds the torque threshold, then the damping time constant should be increased separately.

6. The method for load impact compensation of the main drive of a rolling mill according to claim 5, characterized in that, The formula for calculating the increased feedforward gain coefficient is as follows: ； in, K d This is the feedforward gain coefficient; This is the increased feedforward gain coefficient.

7. A computer terminal, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 6.

9. A computer program product, characterized in that, It 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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