A method, device, equipment and storage medium for controlling a center line of a strip steel
By acquiring the offset data of the strip head centerline, performing curve fitting and curvature calculation, and controlling the dynamic lateral movement of the vertical rolls and guide plates of the finishing mill, the problem of excessive or fluctuating strip head centerline was solved, achieving precise control and improving production stability and quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHOUGANG QIANAN IRON & STEEL CO LTD
- Filing Date
- 2026-04-21
- Publication Date
- 2026-06-12
Smart Images
Figure CN122184103A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of hot rolling technology, and in particular to a method, apparatus, equipment and storage medium for controlling the centerline of strip steel. Background Technology
[0002] As competition in the steel market intensifies, in order to reduce costs and improve efficiency, users are increasingly expanding their product range towards thinner and wider specifications, such as silicon steel and pickled steel sheets. However, the centerline of thin-gauge and high-grade silicon steel strips is too large or fluctuates significantly. In particular, the problem of an excessively large centerline and repeated fluctuations causes issues such as steel jams and shutdowns in subsequent processes. Summary of the Invention
[0003] This application introduces a series of simplified concepts in its summary section, which will be further explained in detail in the detailed description section. The summary section of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.
[0004] This application specifically includes the following aspects: In a first aspect, this application proposes a method for controlling the centerline of a strip steel, the method comprising: At the entrance side of the finishing mill of the hot strip rolling production line, obtain the centerline offset data of the strip head at the exit of the roughing process; Based on the centerline offset data, a curve fitting operation is performed to generate a target curve function that characterizes the sickle shape of the strip head. Based on the target curve function, a curvature calculation operation is performed to obtain the curvature distribution function of the strip head in the length direction; Based on the curvature distribution function, the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill is determined; The vertical roller is controlled to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
[0005] In one feasible implementation, the step of performing a curve fitting operation based on the centerline offset data to generate a target curve function characterizing the sickle shape of the strip head includes: Based on the centerline offset data, a fifth-order polynomial curve is fitted using the least squares method. The fifth-degree polynomial function obtained from the fitting is determined as the target curve function.
[0006] In one feasible implementation, the step of performing a curvature calculation operation based on the target curve function to obtain the curvature distribution function of the strip head in the length direction includes: The first and second derivative functions of the target curve function are obtained by taking the derivative of the target curve function. Based on the first-order derivative function and the second-order derivative function, the curvature distribution function is obtained through a preset curvature formula.
[0007] In one feasible implementation, determining the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill based on the curvature distribution function includes: The reciprocal of the curvature distribution function is determined as the reference function for the movement trajectory of the roll gap centerline; The reference function is negatively evaluated to generate the roll gap centerline movement trajectory function, which is used to determine the roll gap centerline movement trajectory of the vertical roll in the finishing mill based on the roll gap centerline movement trajectory function.
[0008] In one feasible implementation, after controlling the vertical roller to move laterally according to the movement trajectory of the roll gap centerline, the method further includes: Obtain the actual centerline offset data of the strip head at the exit of the finishing process of the hot strip rolling production line; Based on the actual centerline offset data, the finishing mill side guide plate of the finishing mill unit is controlled to move laterally to the coiling side guide plate at the coiler entrance of the hot strip rolling production line.
[0009] In one feasible implementation, controlling the lateral movement of the finishing mill side guide plate and the coiling side guide plate at the coiler inlet of the hot strip rolling production line based on the actual centerline offset data includes: Based on the actual centerline offset data, a lateral movement control amount is generated; The human-computer interaction interface receives confirmation or modification commands for the lateral movement control quantity. The finishing side guide plate and the coiling side guide plate are controlled to move laterally according to the confirmed or modified lateral movement control amount.
[0010] In one feasible implementation, controlling the finishing side guide plate and the coiling side guide plate to move laterally according to the confirmed or modified lateral movement control amount includes: The confirmed or modified lateral movement control values are divided into the first lateral movement control value and the second lateral movement control value according to the preset requirements; The precision rolling side guide plate is controlled to move laterally according to the first lateral movement control amount, provided that it does not exceed the first preset lateral movement range. The take-up side guide plate is controlled to move laterally according to the second lateral movement control amount, provided that it does not exceed the second preset lateral movement range.
[0011] Secondly, this application proposes an apparatus for controlling the centerline of a strip steel, applied to the method for controlling the centerline of a strip steel as described in any of the above embodiments, the apparatus comprising: The offset sensing module is used to acquire the centerline offset data of the strip head at the exit of the roughing process on the inlet side of the finishing mill of the hot strip rolling production line. The shape modeling module is used to perform curve fitting operations based on the centerline offset data to generate a target curve function that characterizes the sickle shape of the strip head. The curvature analysis module is used to perform curvature calculation operations based on the target curve function to obtain the curvature distribution function of the strip head in the length direction; The trajectory planning module is used to determine the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill based on the curvature distribution function. The roll gap control module is used to control the vertical roll to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
[0012] Thirdly, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the steps of the method for controlling the centerline of the strip as described in any of the first aspects above.
[0013] Fourthly, this application also proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method for controlling the centerline of the strip according to any of the first aspects.
[0014] This application proposes a method for controlling the centerline of strip steel. By acquiring the centerline offset data of the strip head at the exit of the roughing mill, and fitting a target curve function characterizing the sickle shape of the strip head based on this data, the curvature distribution of the strip head is calculated. Finally, based on this, the finishing mill vertical rolls are actively and precisely controlled to dynamically move laterally. This effectively overcomes the adjustment delay and mismatch problems caused by relying on manual experience or lagging instrument detection in the prior art. It achieves predictive and feedforward precise control of the centerline offset of the strip head, significantly improving the alignment stability of the strip head in the finishing mill, suppressing deviation and repeated fluctuations caused by the sickle shape of the head from the source, and providing a guarantee for the stable operation of subsequent processes.
[0015] This application discloses a method, apparatus, equipment, and storage medium for controlling the centerline of a strip steel. Other advantages, objectives, and features of this application will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of this application. Attached Figure Description
[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic flowchart of a method for controlling the centerline of a strip steel provided in this application embodiment; Figure 2 A schematic diagram of the functional modules of a device for controlling the centerline of a strip steel provided in an embodiment of this application; Figure 3 This is a schematic diagram of a device structure for controlling the centerline of a strip steel, provided as an embodiment of this application. Detailed Implementation
[0017] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.
[0018] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.
[0019] Please see Figure 1 This is a flowchart illustrating a method for controlling the centerline of a strip steel according to an embodiment of this application, which may specifically include: S110. At the entrance side of the finishing mill of the hot strip rolling production line, obtain the centerline offset data of the strip head at the exit of the roughing process.
[0020] For example, in the hot strip rolling production process, the roughing process mainly performs preliminary rolling and shaping of the steel billet to form an intermediate billet. However, during this process, factors such as uneven mill pressure and differences in billet material may cause the centerline of the strip head to deviate from the preset reference line. The entrance side of the finishing mill is a key node connecting roughing and finishing rolling. Data acquisition at this point can capture the state of the strip before it enters the finishing mill, providing a basis for subsequent precise control. Data acquisition typically relies on high-precision instruments equipped on the production line, such as laser position sensors and image recognition equipment. These devices can monitor detailed data such as the deviation distance and direction of the strip head from the reference centerline in the width direction in real time.
[0021] By acquiring roughing mill exit data at the finishing mill inlet in advance, strip centerline misalignment can be detected earlier, allowing sufficient time for subsequent control. Simultaneously, data obtained from high-precision instruments avoids errors caused by manual visual estimation, providing a reliable data foundation for subsequent steps such as curve fitting and curvature calculation. This ensures the accuracy of the entire control method and reduces control failures caused by inaccurate data.
[0022] S120. Based on the centerline offset data, perform curve fitting to generate a target curve function that characterizes the sickle shape of the strip head.
[0023] For example, the offset of the strip head centerline is not a simple linear offset, but often exhibits a sickle-like curved shape, i.e., a sickle bend. This curved shape is an important reason for the continuous fluctuation of the centerline and even the jamming of the strip during subsequent rolling. The curve fitting operation uses mathematical algorithms to fit multiple centerline offset data (such as offset values corresponding to different length positions) obtained in step S110 to construct a target curve function that can accurately reflect the shape of the sickle bend.
[0024] In some examples, curve fitting is performed based on centerline offset data to generate a target curve function characterizing the sickle shape of the strip head, including: Based on the centerline offset data, a fifth-order polynomial curve is fitted using the least squares method. The fifth-degree polynomial function obtained from the fitting is determined as the target curve function.
[0025] For example, the least squares method is a commonly used mathematical optimization method. Its core principle is to determine the optimal parameters of the fitted curve (i.e., the coefficients a, b, c, d, e, and f of the fifth-degree polynomial) by minimizing the sum of squares of the error between the actual data points and the fitted curve. Specifically, the formula for the fitted target curve function is as follows: (1); Where x is the coordinate along the length of the strip.
[0026] In fitting the centerline offset data of the strip head, since the acquired offset data points may contain certain measurement errors (such as instrument detection noise, iron oxide scale interference on the strip surface, etc.), the least squares method can effectively reduce the impact of these errors on the fitting results, making the generated fitting curve closer to the true shape of the sickle bend at the strip head. A fifth-order polynomial is chosen for fitting because the bending morphology of the sickle bend at the strip head is quite complex. Lower-order polynomials (such as first-order and second-order polynomials) cannot accurately capture the detailed features of the bend, while the fifth-order polynomial has sufficient freedom and flexibility, and can accurately reproduce the bending trend change of the sickle bend from the beginning to the end of the head by adjusting its coefficients, including the change in bending direction and the fluctuation of the degree of bending. Compared with higher-order polynomials (such as sixth-order and seventh-order polynomials), the fifth-order polynomial can meet the fitting accuracy requirements while avoiding the phenomenon of "overfitting" (i.e., the fitting curve excessively fits the discrete data points containing errors, resulting in an inability to reflect the true bending pattern), ensuring the reliability and practicality of the fitting results.
[0027] S130. Based on the target curve function, perform curvature calculation to obtain the curvature distribution function of the strip head in the length direction.
[0028] For example, curvature is an important mathematical indicator used to measure the degree of curvature of a curve. The larger the curvature value, the more severe the curvature at that location. During strip rolling, the degree of curvature varies at different locations of the camber bend. Locations with severe curvature are more likely to cause problems such as centerline fluctuations and deviations in subsequent rolling processes. Based on the target curve function obtained in step S120, the first and second derivatives are calculated and then substituted into the preset curvature formula, specifically as follows: (2); in, The first derivative of the target curve function. Let R(x) be the second derivative of the target curve function and R(x) be the radius of curvature. This yields the curvature value at each position along the length of the strip head, thus forming a curvature distribution function. This function clearly reflects the changing curvature of the strip head from the beginning to the end, providing a quantitative basis for determining the subsequent vertical roll movement trajectory.
[0029] In some examples, curvature calculations are performed based on the target curve function to obtain the curvature distribution function of the strip head along its length, including: The first and second derivative functions of the target curve function are obtained by calculating the derivative of the target curve function. Based on the first and second derivative functions, the curvature distribution function is obtained through a pre-defined curvature formula.
[0030] For example, in mathematics, the first derivative of a curve reflects the slope of the tangent line at a certain point, characterizing the trend of the curve's change (i.e., the direction of bending of the strip head at that position); the second derivative reflects the rate of change of the first derivative, characterizing the steepness of the curve's bending (i.e., the degree of bending of the strip head at that position). The first derivative function is obtained by differentiating the fifth-degree polynomial target curve function. and second derivative function This allows for the mathematical quantification of the bending direction and severity of the sickle-shaped bend at the head of the strip. The pre-defined curvature formula, namely equation (2) above, is derived based on the principles of differential geometry. This formula combines the first and second derivatives to calculate the curvature value. It directly reflects the degree of curvature of the curve at a certain point; the greater the curvature value, the more severe the curvature. By substituting the x-value at each position along the length of the strip head into this formula, the curvature value at each position can be obtained, thus forming a curvature distribution function. This function clearly presents the variation law of the degree of curvature of the strip head from the beginning to the end in either continuous or discrete form, providing a precise quantitative basis for subsequently determining the vertical roll movement trajectory, ensuring that the vertical roll adjustment can be carried out in a targeted manner according to the differences in the degree of curvature.
[0031] S140. Based on the curvature distribution function, determine the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill.
[0032] For example, the vertical roll is a key piece of equipment in the finishing mill used to control the width and centerline position of the strip. The position of its roll gap centerline directly affects the direction of the strip's centerline during the rolling process. In this embodiment, the core logic of determining the movement trajectory based on the curvature distribution function is: the greater the curvature (the more severe the bending) at a certain position on the strip head, the more significant the adjustment of the vertical roll is required at that position to counteract the influence of the bending on the centerline. Specifically, the reciprocal of the curvature distribution function (i.e., the radius of curvature R(x)) is used as the reference function for the movement trajectory of the roll gap centerline. Then, the negative value of the reference function is taken to obtain the roll gap centerline movement trajectory function g(x)≈-R(x). The principle of this design is: the radius of curvature R(x) reflects the "arc radius" of the strip bending. Taking a negative value means that the movement direction of the vertical roll is opposite to the bending direction of the strip. By moving the vertical roll in the opposite direction, the bending shape of the strip can be gradually corrected, so that the centerline of the strip returns to the preset path. Meanwhile, the movement trajectory adopts a discrete function form with a fixed step size, which makes it easy for the control system to control the movement of the vertical roller step by step according to the actual production rhythm, ensuring a smooth and precise adjustment process.
[0033] In some examples, the trajectory of the roll gap centerline movement of the vertical rolls in the finishing mill is determined based on the curvature distribution function, including: The reciprocal of the curvature distribution function is determined as the reference function for the movement trajectory of the roll gap centerline; By taking a negative value for the reference function, a roll gap centerline movement trajectory function is generated, which is used to determine the roll gap centerline movement trajectory of the vertical rolls in the finishing mill.
[0034] For example, the radius of curvature R(x) is the curvature value. The reciprocal of the curvature, in its physical sense, represents the radius of the arc corresponding to the bending shape at a certain position on the strip head. The smaller the radius of curvature, the more severe the bending at that position. The radius of curvature is used as the reference function for the movement trajectory because it is directly related to the "correction requirements" of the strip bending: the more severe the bending (the smaller the radius of curvature), the greater the movement of the vertical roller is needed to counteract the bending effect and pull the strip centerline back to the preset path. Taking the negative value of the reference function generates the movement trajectory function g(x)≈-R(x). Its core principle is to make the movement direction of the vertical roller opposite to the bending direction of the strip, forming a "reverse correction" effect. For example, if a certain position on the strip head bends to the left (curvature radius direction to the left), the centerline of the vertical roller gap moves to the right (taking a negative value). Through the lateral pressure of the vertical roller on the strip, the left-bending part is pushed to the right, gradually correcting the bending shape. Meanwhile, the movement trajectory adopts a discrete function form with a fixed step size to adapt to the command execution mode of the control system in industrial production. This makes it easier to decompose the continuous movement trajectory into multiple discrete control steps, so that the vertical roll can move gradually according to the rolling rhythm and avoid sudden changes in strip stress caused by excessive single movement amplitude, which could lead to rolling instability or strip surface damage.
[0035] S150: Control the vertical roller to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
[0036] For example, in actual production, the lateral movement of the vertical roll is controlled by a high-precision servo drive system. This system receives movement commands from the secondary control system (generated based on the movement trajectory determined in step S140) and drives the vertical roll to move precisely in the horizontal direction (perpendicular to the strip rolling direction). During the lateral movement of the vertical roll, the control system monitors the deviation between the actual movement position of the vertical roll and the target movement trajectory in real time and makes dynamic corrections through closed-loop control to ensure that the vertical roll moves strictly according to the preset trajectory. At the same time, the lateral movement of the vertical roll is synchronized with the rolling speed of the strip. That is, when the vertical roll moves to a designated position at a certain position at the head of the strip, the strip is rolled to that position, realizing "rolling and straightening simultaneously" and avoiding rolling instability or straightening failure caused by the mismatch between the movement of the vertical roll and the rolling rhythm of the strip. Through this process, after the strip head is rolled by the vertical roll, its sickle shape is gradually corrected, and the centerline gradually returns to the preset rolling path, laying the foundation for the stability of the subsequent finishing rolling process.
[0037] In some examples, after controlling the vertical roll to move laterally according to the trajectory of the roll gap centerline, the following is also included: Obtain the actual centerline offset data of the strip head at the exit of the finishing process of the hot strip rolling production line; Based on actual centerline offset data, the finishing mill side guide plate of the finishing mill unit is controlled to move laterally to the coiling side guide plate at the coiler entrance of the hot strip rolling production line.
[0038] For example, in the hot strip rolling production process, the exit of the finishing mill is a critical node before the strip completes finishing rolling and enters the coiling process. The centerline state of the strip at this point directly affects the stability of the subsequent coiling process. Although the centerline of the strip head has been initially corrected through vertical roll control, during the finishing rolling process, factors such as pressure fluctuations in each stand of the finishing mill and uneven strip material may cause a slight shift in the centerline of the strip head. Therefore, it is necessary to obtain the actual centerline shift data of the strip head again at the finishing mill exit as the basis for secondary correction. The finishing mill side guide plate is located near the exit of the finishing mill and is mainly used to guide the strip into the subsequent conveyor roller table. Its lateral movement can fine-tune the centerline of the finished strip. The coiling side guide plate is located at the coiler inlet and is used to accurately guide the strip into the coiler drum. Its lateral movement can ensure that the centerline of the strip remains stable during the coiling process, avoiding quality defects such as towering and misalignment of the coil due to centerline shift during coiling. By combining vertical roll control and side guide plate control, a dual control system of "coarse straightening + fine adjustment" is formed, which further improves the control accuracy of the strip head centerline and ensures the stability of the strip centerline throughout the entire process from finishing rolling to coiling.
[0039] In some examples, based on actual centerline offset data, the finishing mill's finishing side guide plate is controlled to move laterally relative to the coiling side guide plate at the coiler inlet of the hot strip rolling production line, including: Based on the actual centerline offset data, generate the lateral control quantity; Receive confirmation or modification instructions for the lateral control quantity through the human-machine interface; The finishing side guide plate and the coiling side guide plate are laterally moved according to the confirmed or modified lateral movement control amount.
[0040] For example, in industrial production, the strip rolling process is complex and variable, and special circumstances may occur, such as temporary malfunctions of detection instruments or abnormalities on the strip surface (such as scales or creases) leading to misjudgments of offset data. Relying solely on the lateral movement control quantity generated by the automatic control system may be risky. Therefore, setting up a human-machine interface (HMI) to receive manual confirmation or modification instructions can fully leverage the operator's experience to perform secondary verification and adjustment of the automatic control quantity, ensuring the accuracy and safety of the control instructions. The specific process is as follows: First, the control system calculates the theoretical lateral movement control quantity based on the actual centerline offset data at the finishing mill exit using a preset algorithm; then, this control quantity is displayed in the centerline movement control input box on the HMI screen. The input boxes correspond to the control quantities of the finishing mill side guide plate and the coiling side guide plate, making it easy for the operator to distinguish and view; the operator observes the actual rolling status of the strip head through the HMI screen (such as viewing the strip centerline position through real-time monitoring video) and judges whether the automatically generated control quantity is reasonable based on their own experience. If the control value is appropriate, the operator clicks the "Confirm" button, and the control system sends the control value to the side guide plate drive device. If there is a deviation in the control value (such as excessive or insufficient control value due to instrument error), the operator can manually modify the control value in the input box. After modification, the operator clicks "Confirm," and the control system executes the operation according to the modified control value. This "automatic calculation + manual confirmation" mode balances the efficiency of automatic control with the safety of manual intervention, ensuring the accuracy and reliability of the side guide plate lateral movement control.
[0041] In some examples, the finishing side guide and the coiling side guide are lateralized according to the confirmed or modified lateral control amount, including: The confirmed or modified lateral movement control values are divided into the first lateral movement control value and the second lateral movement control value according to the preset requirements; The precision rolling side guide plate is controlled to move laterally according to the first lateral movement control amount, provided that it does not exceed the first preset lateral movement range. The take-up side guide plate is controlled to move laterally according to the second lateral movement control amount, provided that it does not exceed the second preset lateral movement range.
[0042] For example, in hot strip rolling production, the finishing side guide plate and the coiling side guide plate have different mechanical structures and working principles, and their maximum lateral movement capabilities (i.e., preset lateral movement ranges) also differ: the finishing side guide plate is close to the finishing mill unit, and its lateral movement range is relatively small due to the limited space layout at the finishing mill exit and the strip rolling precision requirements; the coiling side guide plate is located at the coiling mill inlet, with relatively ample space, and is mainly used for final guidance before coiling, so its lateral movement range can be appropriately increased. The preset lateral movement range is determined based on the mechanical design parameters of the side guide plate (e.g., the first preset lateral movement range can be ±15mm, and the second preset lateral movement range can be ±30mm), the motor drive capability, and the strip rolling process requirements. Lateral movement exceeding this range may cause damage to the mechanical components of the side guide plate, motor overload, or cause severe strip vibration due to excessive lateral movement amplitude, affecting the rolling quality. Therefore, when controlling the lateral movement of the side guide plate, the confirmed or modified total lateral movement control amount must first be divided into a first lateral movement control amount (corresponding to the finishing rolling side guide plate) and a second lateral movement control amount (corresponding to the coiling side guide plate) according to preset requirements (such as the control accuracy, response speed, and lateral movement range ratio of the side guide plate). This ensures that the allocation of the two control amounts conforms to their respective working characteristics and process requirements. Then, during the lateral movement operation, the control system will monitor the actual lateral movement of the side guide plate in real time. If the actual lateral movement is about to exceed the preset range, a limit command will be immediately issued to stop the side guide plate from moving or adjust its movement speed, ensuring that the lateral movement process is carried out within a safe and reasonable range, and avoiding equipment damage and production accidents.
[0043] The technical solution of this application will be further described in detail below through specific embodiments.
[0044] This embodiment is applied to a hot strip rolling production line. Addressing the issue of strip centerline misalignment during strip rolling, it achieves precise control of the strip centerline by controlling the coordinated lateral movement of the finishing vertical roll, finishing side guide plate, and coiling side guide plate. The production line is equipped with instruments for detecting strip position, an HMI (Human Machine Interface), and a related system for driving the lateral movement of the equipment. This system can collect strip position data in real time and execute lateral movement commands. First, the control device and interface were developed. A dedicated HMI centerline movement control interface was created, with three data input boxes corresponding to the vertical roll, finishing side guide plate, and coiling side guide plate. The operator can input data into the corresponding input boxes based on the actual deviation of the strip from the centerline detected by the instruments, forcing the rolled strip to move towards the centerline. Next, dynamic lateral movement control of the finishing vertical roll is executed. After the roughing process of strip steel is completed, the intermediate billet enters the inlet side of the finishing mill via the conveyor rollers. The centerline curve data of the strip head at the roughing mill exit is collected by instruments. These data are substituted into the fifth-order polynomial fitting model, i.e., the above equation (1). The coefficients of the fitting curve are obtained through corresponding calculations, and the fifth-order curve fitting of the sickle bend at the head of the intermediate billet is completed. Then, the first derivative of the fitted fifth-order curve is calculated. and second derivative Substituting this into the curvature formula, i.e., the above formula (2), the curvature function of the strip head sickle bend is calculated. In order to improve the asymmetric rolling caused by the excessive head sickle bend, the vertical roll gap movement trajectory is dynamically adjusted according to this curvature function. The center movement trajectory curve of F1E (the vertical roll in front of the first mill stand of the finishing mill) is set as g(x), g(x) is a discrete function with a fixed step length and a full step length of L. For ease of control, let L=R(x). Then, the vertical roll center movement trajectory is determined according to the formula g(x)≈-R(x). At the same time, the lateral movement range of the vertical roll is ±20mm. When generating the lateral movement command, it is necessary to ensure that it is within this range. After the final generated lateral movement command is confirmed by the HMI, the vertical roll is driven to complete the dynamic adjustment when the strip head passes through. During the adjustment process, the vertical roll will be corrected in combination with the center line offset of the finishing mill exit and the pressure deviation on both sides of the finishing mill vertical roll. Then, the finishing mill side guide plate is manually corrected. After the strip head passes through the finishing mill, the instruments detect the deviation of the finishing mill exit centerline before and after loading. Based on the detected deviation, the operator manually inputs adjustment data into the finishing mill side guide plate input box on the HMI. The lateral movement range of the finishing mill side guide plate is ±15mm, and the input adjustment data must be within this range. After the command is issued, the finishing mill side guide plate moves laterally according to the input adjustment data to correct the strip centerline offset. Finally, manual correction is performed on the coiling side guide plate. After adjustment by the finishing mill side guide plate, before entering the coiler, the instruments again detect the deviation of the finishing mill exit centerline before and after loading. Based on this detected deviation, the operator manually inputs adjustment data into the coiling side guide plate input box on the HMI. The lateral movement range of the coiling side guide plate is ±30mm, and the input adjustment data must meet this range requirement. After receiving the command, the coiling side guide plate moves laterally according to the adjustment data to further correct the strip centerline offset, ensuring that the strip centerline meets the requirements of subsequent production processes. The above control methods effectively improve the problem of strip head centerline misalignment, enhance strip rolling quality and production stability, and are especially suitable for strip rolling of strip varieties with high requirements for centerline accuracy.
[0045] Furthermore, this application also proposes a device for controlling the centerline of a strip, applied to an embodiment of any of the above-mentioned methods for controlling the centerline of a strip, specifically as follows: Figure 2 The diagram shown is a functional module schematic of a device for controlling the centerline of a strip steel according to this application, comprising: The offset sensing module 21 is used to acquire the centerline offset data of the strip head at the exit of the roughing process on the inlet side of the finishing mill of the hot strip rolling production line. Shape modeling module 22 is used to perform curve fitting operations based on centerline offset data to generate a target curve function that characterizes the sickle shape of the strip head. Curvature analysis module 23 is used to perform curvature calculation operations based on the target curve function to obtain the curvature distribution function of the strip head in the length direction; The trajectory planning module 24 is used to determine the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill based on the curvature distribution function. The roll gap control module 25 is used to control the vertical roll to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
[0046] It should be noted that the above embodiments are merely best examples and are not intended to limit the implementation of this application.
[0047] Furthermore, such as Figure 3 As shown, this application embodiment also provides an electronic device 300, including a processor 310, a memory 320, and a computer program 321 stored in the memory 320 and executable on the processor. When the processor 310 executes the computer program 321, it implements the steps of any of the above-described methods for controlling the center line of the strip.
[0048] Since the electronic device described in this embodiment is the device used to implement a method for controlling the center line of a strip in this application embodiment, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in this application embodiment. Therefore, how the electronic device implements the method in this application embodiment will not be described in detail here. Any device used by those skilled in the art to implement the method in this application embodiment is within the scope of protection of this application.
[0049] In practical implementation, when the computer program 321 is executed by the processor, it can achieve the following: Figure 1 Any of the corresponding implementation methods in the embodiments.
[0050] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0051] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.
[0052] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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 computer, 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, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0053] 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.
[0054] 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.
[0055] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process for controlling the centerline of a strip steel.
[0056] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0057] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0058] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.
[0059] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0060] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0061] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0062] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
[0063] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.
[0064] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.
Claims
1. A method for controlling the centerline of a strip steel, characterized in that, The method includes: At the entrance side of the finishing mill of the hot strip rolling production line, obtain the centerline offset data of the strip head at the exit of the roughing process; Based on the centerline offset data, a curve fitting operation is performed to generate a target curve function that characterizes the sickle shape of the strip head. Based on the target curve function, a curvature calculation operation is performed to obtain the curvature distribution function of the strip head in the length direction; Based on the curvature distribution function, the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill is determined; The vertical roller is controlled to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
2. The method for controlling the centerline of the strip steel according to claim 1, characterized in that, The step of performing a curve fitting operation based on the centerline offset data to generate a target curve function characterizing the sickle shape of the strip head includes: Based on the centerline offset data, a fifth-order polynomial curve is fitted using the least squares method. The fifth-degree polynomial function obtained from the fitting is determined as the target curve function.
3. The method for controlling the centerline of the strip steel according to claim 2, characterized in that, The step of performing curvature calculation based on the target curve function to obtain the curvature distribution function of the strip head in the length direction includes: The first and second derivative functions of the target curve function are obtained by taking the derivative of the target curve function. Based on the first-order derivative function and the second-order derivative function, the curvature distribution function is obtained through a preset curvature formula.
4. The method for controlling the centerline of the strip steel according to claim 3, characterized in that, The determination of the roll gap centerline movement trajectory of the vertical rolls in the finishing mill based on the curvature distribution function includes: The reciprocal of the curvature distribution function is determined as the reference function for the movement trajectory of the roll gap centerline; The reference function is negatively evaluated to generate the roll gap centerline movement trajectory function, which is used to determine the roll gap centerline movement trajectory of the vertical roll in the finishing mill based on the roll gap centerline movement trajectory function.
5. The method for controlling the centerline of the strip steel according to claim 1, characterized in that, After controlling the vertical roller to move laterally according to the trajectory of the roller gap centerline, the method further includes: Obtain the actual centerline offset data of the strip head at the exit of the finishing process of the hot strip rolling production line; Based on the actual centerline offset data, the finishing mill side guide plate of the finishing mill unit is controlled to move laterally to the coiling side guide plate at the coiler entrance of the hot strip rolling production line.
6. The method for controlling the centerline of the strip steel according to claim 5, characterized in that, The step of controlling the finishing mill side guide plate of the finishing mill unit to move laterally relative to the coiling side guide plate at the coiler entrance of the hot strip rolling production line based on the actual centerline offset data includes: Based on the actual centerline offset data, a lateral movement control amount is generated; The human-computer interaction interface receives confirmation or modification commands for the lateral movement control quantity. The finishing side guide plate and the coiling side guide plate are controlled to move laterally according to the confirmed or modified lateral movement control amount.
7. The method for controlling the centerline of the strip according to claim 6, characterized in that, The control of the finishing side guide plate and the coiling side guide plate to move laterally according to the confirmed or modified lateral movement control amount includes: The confirmed or modified lateral movement control values are divided into the first lateral movement control value and the second lateral movement control value according to the preset requirements; The precision rolling side guide plate is controlled to move laterally according to the first lateral movement control amount, provided that it does not exceed the first preset lateral movement range. The take-up side guide plate is controlled to move laterally according to the second lateral movement control amount, provided that it does not exceed the second preset lateral movement range.
8. An apparatus for controlling the centerline of a strip steel, applied to the method for controlling the centerline of a strip steel according to any one of claims 1 to 7, characterized in that, The device includes: The offset sensing module is used to acquire the centerline offset data of the strip head at the exit of the roughing process on the inlet side of the finishing mill of the hot strip rolling production line. The shape modeling module is used to perform curve fitting operations based on the centerline offset data to generate a target curve function that characterizes the sickle shape of the strip head. The curvature analysis module is used to perform curvature calculation operations based on the target curve function to obtain the curvature distribution function of the strip head in the length direction; The trajectory planning module is used to determine the movement trajectory of the roll gap centerline of the vertical roll in the finishing mill based on the curvature distribution function. The roll gap control module is used to control the vertical roll to move laterally according to the movement trajectory of the roll gap centerline, so that the centerline of the strip head returns to the preset path.
9. An electronic device, comprising: The memory and processor are characterized in that the processor, when executing a computer program stored in the memory, implements the steps of the method for controlling the centerline of the strip as described in any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for controlling the centerline of the strip as described in any one of claims 1 to 7.