A method and system for on-line closed loop adjustment of a numerically controlled cross-cutting rule

Abstract

This invention relates to the field of metal processing technology, and proposes a method and system for online closed-loop adjustment of the shape of CNC cross-cutting strips. The method includes: deploying a shape detector at the exit side of the straightening machine of the CNC cross-cutting strip to extract the shape defect features of the straightened metal strip; establishing a shape control law between the shape defect features and the straightening adjustment amount to determine the target shape parameters of the metal strip and the real-time shape deviation vector corresponding to the shape defect features; combining the real-time shape deviation vector and the target shape parameters, fusing feedforward compensation and adaptive adjustment, and generating compensation drive signals for each actuator; updating the compensation drive signals according to the adjusted real-time shape deviation vector to achieve online closed-loop adjustment of the shape of the CNC cross-cutting strip. This invention can achieve active compensation and online correction of shape deviation, improving the shape control accuracy.

Description

Technical Field

[0001] This invention belongs to the field of metal material processing technology, and relates to a method and system for online closed-loop adjustment of the shape of CNC cross-cutting line. Background Technology

[0002] CNC cross-cutting shape adjustment is a process that uses an actuator to differentiate the elongation rate of different regions of a metal strip in the transverse direction in order to suppress or eliminate shape defects such as sickle bends, edge waviness, and flaring. This process is a key control link to achieve high-precision fixed-length shearing and improve the yield rate.

[0003] Currently, the shape adjustment of CNC cross-cutting lines generally relies on manual experience or process cards to preset straightening machine parameters. The adjustment amount is only preset for stable working conditions and lacks a closed-loop correction mechanism that combines real-time shape detection signals. As a result, the straightening machine cannot sense and follow the dynamic changes in the shape to actively compensate and adjust, leading to insufficient shape control accuracy.

[0004] Therefore, existing technologies lack a solution that can achieve active compensation and online correction of plate shape deviation, thereby improving the accuracy of plate shape control. Summary of the Invention

[0005] This invention provides a method and system for online closed-loop adjustment of the shape of CNC cross-section plates. Its main purpose is to achieve active compensation and online correction of plate shape deviation, thereby improving the accuracy of plate shape control.

[0006] To achieve the above objectives, the present invention provides a method for online closed-loop adjustment of the shape of a CNC cross-section plate, comprising: A plate shape detector is deployed on the exit side of the straightening machine for CNC cross-cutting. The plate shape defect characteristics of the straightened metal strip are extracted through the plate shape detector. Based on the plate shape defect characteristics, the straightening adjustment amount of the straightening machine is determined. Establish a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount; based on the plate shape control law, determine the target plate shape parameters of the metal strip under different working conditions; and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. The production line speed change rate and tension fluctuation signal of the straightening machine are monitored in real time to generate the feedforward compensation amount of the actuator in the straightening machine; By combining the real-time plate shape deviation vector with the target plate shape parameters, the working condition adaptive adjustment amount corresponding to each actuator is generated. The feedforward compensation amount and the working condition adaptive adjustment amount are fused to generate the compensation drive signal for each actuator. Based on the compensation drive signal, the actions of each actuator are adjusted, and the compensation drive signal is updated according to the adjusted real-time plate shape deviation vector to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0007] Optionally, by combining the real-time plate shape deviation vector and the target plate shape parameters, an adaptive adjustment amount corresponding to the working condition of each actuator is generated, including: Extract the deviation energy concentration region and deviation direction features corresponding to the real-time plate shape deviation vector; The target plate shape parameters are divided into multiple sub-intervals along the width direction of the metal strip, and the upper and lower limits of deviation tolerance are determined for each sub-interval. Identify the excessively poor sections in the deviation energy concentration region that exceed the upper limit of the deviation tolerance and the underperforming sections that fall below the lower limit of the deviation tolerance; Based on the over-error zone, the under-error zone, and the deviation direction characteristics, determine the adaptive adjustment weight corresponding to each actuator; Based on the adaptive adjustment weights, the corresponding adaptive adjustment values ​​for each actuator are generated.

[0008] Optionally, based on the excessive deviation segment, the insufficient deviation segment, and the deviation direction characteristics, the adaptive adjustment weight corresponding to each actuator is determined, including: The excessive and insufficient deviation sections are mapped onto the roller width coordinates of the straightener to mark the deviation section coverage of each actuator; Based on the deviation direction characteristics, the adjustment polarity corresponding to each actuator is determined; Based on the coverage range of the deviation segment and the adjustment polarity, adaptive adjustment weights are assigned to each actuator.

[0009] Optionally, based on the deviation direction characteristics, the adjustment polarity corresponding to each actuator is determined, including: When the deviation direction characteristic is positive, the adjustment polarity of the corresponding actuator is determined to be negative. When the deviation direction characteristic is negative, the adjustment polarity of the corresponding actuator is determined to be positive.

[0010] Optionally, the production line speed change rate and tension fluctuation signal of the straightening machine are monitored in real time to generate feedforward compensation amounts for the actuators in the straightening machine, including: The corresponding changes in production line speed and tension fluctuations are extracted from the production line speed change rate and the tension fluctuation signal, respectively. Based on the change in production line speed and the deviation in tension fluctuation, determine the feedforward compensation coefficient corresponding to each actuator; Based on the feedforward compensation coefficient and the steady-state reference adjustment of each actuator under the current operating conditions, the feedforward compensation amount of the actuator in the straightening machine is generated.

[0011] Optionally, determining the straightening adjustment amount of the straightening machine based on the plate shape defect characteristics includes: The plate-shaped defect features are decomposed into symmetrical wave-shaped components, asymmetrical wave-shaped components, and higher-order wave-shaped components. The bending roller adjustment amount of the straightener is determined based on the symmetrical wave component. The tilting roller adjustment amount of the straightener is calculated based on the asymmetric wave component. Based on the higher-order waviness component, the pressing adjustment amount of the straightener is allocated to each adjustment section along the roller body direction; The straightening adjustment amount of the straightening machine is obtained by combining the bending roller adjustment amount, the tilting roller adjustment amount, and the pressing adjustment amount.

[0012] Optionally, a plate shape control law is established between the plate shape defect characteristics and the straightening adjustment amount, including: Identify the edge waves, middle waves, quarter waves, and composite waves corresponding to the plate shape defect characteristics, and separate the bending roller adjustment amount and the zone pressing adjustment amount in the straightening adjustment amount; Extract the wave amplitude values ​​corresponding to the edge wave and the middle wave respectively, and determine the first sub-control law based on the wave amplitude value and the bending roller adjustment amount; Calculate the local waveform slope of the quarter wave, and determine the second sub-control law based on the local waveform slope and the partition pressure adjustment amount; The composite wave is subjected to multi-feature fusion to obtain the multi-feature fusion value of the composite wave; The third sub-control law is determined based on the multi-feature fusion value, the bending roller adjustment amount, and the partition pressing adjustment amount; The first sub-control law, the second sub-control law, and the third sub-control law are combined to obtain the plate shape control law.

[0013] Optionally, updating the compensation drive signal based on the adjusted real-time plate shape deviation vector includes: When the amplitude of the real-time plate shape deviation vector exceeds the preset upper limit threshold, the output amplitude of the compensation drive signal is increased; When the amplitude of the real-time plate shape deviation vector is lower than the preset lower threshold, the output amplitude of the compensation drive signal is reduced. When the amplitude of the real-time plate shape deviation vector is between the upper threshold and the lower threshold, the current output amplitude of the compensation drive signal is maintained.

[0014] Optionally, the plate shape detector is a non-contact laser detection device, including at least one line laser generator and at least one area array camera. The line laser generator is fixed above the metal strip on the exit side of the straightener, forming an angle of 45° to 75° with the normal direction of the metal strip, and is used to project a linear laser beam onto the surface of the metal strip. The area array camera is installed on the same side as the line laser generator, and its optical axis forms an angle of 30° to 60° with the laser projection plane, and is used to acquire laser line images of the surface of the metal strip.

[0015] To address the aforementioned problems, the present invention also provides a system for online closed-loop adjustment of the shape of a CNC cross-cutting plate, which executes the aforementioned method for online closed-loop adjustment of the shape of a CNC cross-cutting plate. The system includes: The plate shape detection module is used to deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Through the plate shape detector, the plate shape defect characteristics of the straightened metal strip are extracted, and the straightening adjustment amount of the straightening machine is determined based on the plate shape defect characteristics. The control law construction module is used to establish the plate shape control law between the plate shape defect characteristics and the straightening adjustment amount, determine the target plate shape parameters of the metal strip under different working conditions based on the plate shape control law, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. The feedforward compensation module is used to monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time, so as to generate the feedforward compensation amount of the actuator in the straightening machine; The drive signal generation module is used to combine the real-time plate shape deviation vector with the target plate shape parameters to generate the working condition adaptive adjustment amount corresponding to each actuator, and to fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator. The closed-loop adjustment module is used to adjust the action of each actuator based on the compensation drive signal, and update the compensation drive signal according to the adjusted real-time plate shape deviation vector, so as to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0016] Compared to the problems described in the background art, this invention, by deploying a shape detector on the exit side of the straightening machine for CNC cross-cutting, can acquire shape defect characteristics in real time, improving the response speed and adjustment accuracy of shape control. Based on these shape defect characteristics, the straightening adjustment amount of the straightening machine is determined, directly linking the adjustment action of the straightening machine to the current actual shape state of the metal strip, avoiding the blindness caused by relying on preset parameters based on human experience. Furthermore, by establishing a shape control law between the shape defect characteristics and the straightening adjustment amount, this invention allows the straightening adjustment amount to be automatically determined based on the detected shape defect characteristics, forming a quantitative mapping relationship between shape detection and straightening execution, providing a control basis for online closed-loop shape adjustment. Based on the shape control law, this invention converts the shape defect characteristics into a corresponding real-time shape deviation vector, providing a clear error basis for the generation of subsequent adjustment amounts, avoiding the blindness of adjustment caused by the lack of a unified benchmark when directly using defect characteristics for adjustment. Furthermore, this invention monitors the straightening machine in real time... The invention generates feedforward compensation amounts for the actuators in the straightening machine based on the production line speed change rate and tension fluctuation signals. This allows for advance compensation of plate shape fluctuations caused by speed or tension disturbances during transient conditions with sudden changes in speed or tension, avoiding response delays caused by relying solely on feedback adjustment. Furthermore, by combining the real-time plate shape deviation vector with the target plate shape parameters, the invention generates adaptive adjustment amounts for each actuator, automatically determining the straightening machine's adjustment amount based on the actual plate shape deviation, eliminating reliance on process card preset values ​​and achieving dynamic matching between the adjustment amount and real-time operating conditions. Finally, the invention executes the action adjustment of each actuator based on the compensation drive signal and updates the compensation drive signal according to the adjusted real-time plate shape deviation vector. This creates a closed-loop correlation between the straightening machine's adjustment action and the real-time plate shape state of the metal strip, avoiding reliance on manual experience or fixed operating condition preset parameters. This solves the problem of the straightening machine being unable to perceive dynamic changes in plate shape under open-loop control, achieving active compensation and online correction of plate shape deviations, thereby improving plate shape control accuracy. Therefore, the present invention can realize active compensation and online correction of plate shape deviation, thereby improving the accuracy of plate shape control. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of an embodiment of the present invention for an online closed-loop adjustment method for the shape of a CNC cross-section plate; Figure 2 This is a schematic diagram of the compensation drive signal generation principle of an online closed-loop adjustment method for the shape of a CNC cross-section plate provided in an embodiment of the present invention; Figure 3 This is a logic diagram for comparing the magnitude of the real-time plate shape deviation vector of a method for online closed-loop adjustment of CNC cross-section plate shape, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of a module for an online closed-loop adjustment system for the shape of a CNC cross-cutting line provided in an embodiment of the present invention; Figure 5 A schematic diagram of a computer device for implementing the online closed-loop adjustment method for the shape of a CNC cross-section plate, provided in an embodiment of the present invention; The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. This application provides a method for online closed-loop adjustment of the shape of a CNC cross-section plate. The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the method for online closed-loop adjustment of the shape of a CNC cross-section plate can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0019] See Figure 1 The diagram shown is a flowchart illustrating an online closed-loop adjustment method for the shape of a CNC cross-cutting plate according to an embodiment of the present invention. In this embodiment, the online closed-loop adjustment method for the shape of a CNC cross-cutting plate includes: S1. Deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Extract the plate shape defect features of the straightened metal strip through the plate shape detector. Determine the straightening adjustment amount of the straightening machine based on the plate shape defect features.

[0020] This invention utilizes a plate shape detector deployed on the exit side of the straightening machine in a CNC cross-cutting line to acquire plate shape defect characteristics in real time, thereby improving the response speed and adjustment accuracy of plate shape control. The CNC cross-cutting line is a continuous production line for online fixed-length shearing of metal strips. The straightening machine is a device that uses multiple sets of work rollers to apply alternating bending to the metal strip to improve its straightness, such as a four-roll, six-roll, or nine-roll straightening machine, which is typically equipped with a bending roller adjustment mechanism, an tilting roller adjustment mechanism, and a pressing adjustment mechanism.

[0021] In this embodiment, the plate shape detector is a non-contact laser detection device, including at least one line laser generator and at least one area array camera. The line laser generator is fixed above the metal strip on the exit side of the straightener, forming an angle of 45° to 75° with the normal direction of the metal strip, and is used to project a linear laser beam onto the surface of the metal strip. The area array camera is installed on the same side as the line laser generator, and its optical axis forms an angle of 30° to 60° with the laser projection plane, and is used to acquire laser line images of the surface of the metal strip.

[0022] Furthermore, the present invention extracts the shape defect features of the straightened metal strip through the shape detector, which can provide input basis for the closed-loop adjustment of the straightener and improve the adaptive capability and stability of the shape control. The straightened metal strip refers to the metal strip after being alternately bent and deformed by multiple sets of working rollers of the straightener. The shape defect features include at least one of edge waviness, center waviness, sickle bend, flared bend, and uneven distribution of transverse elongation.

[0023] As an embodiment of the present invention, the plate shape defect features of the straightened metal strip are extracted using the plate shape detector, including: A laser beam is projected onto the surface of the straightened metal strip through a line laser generator in the plate shape detector; After the laser beam is projected onto the surface of the metal strip and forms a laser line, the laser line image on the surface of the metal strip is acquired using the area array camera in the plate shape detector; Based on the laser line image, obtain the elongation distribution data of each region in the transverse direction of the metal strip; Based on the elongation distribution data, the shape defect characteristics of the metal strip are identified.

[0024] The laser beam is projected onto the surface of the metal strip at an angle. The laser line image is a two-dimensional grayscale image captured by an area array camera, containing laser stripes projected onto the surface of the metal strip. A straight laser line indicates that the metal strip is flat, while a curved line indicates the presence of waviness. The transverse regions include an edge bolt region, an edge thinning region, and a center thickness region. The division of each region is used to locate the transverse position of the strip shape defects. The elongation distribution data refers to the set of relative elongation parameters of each transverse region of the metal strip along the rolling direction.

[0025] Furthermore, the process for obtaining the elongation distribution data of each region in the transverse direction of the metal strip is as follows: extract the coordinates of the center line of the laser line image and perform distortion correction and three-dimensional reconstruction to obtain the shape elevation data of the metal strip along the width direction. Then, calculate the elongation of each detection point in the transverse direction based on the difference between the elevation data and the baseline. Finally, summarize the elongation distribution data of each region according to the preset transverse region division rules.

[0026] Optionally, based on the elongation distribution data, the shape defect characteristics of the metal strip can be identified by comparing the elongation difference between different transverse regions with a preset shape defect threshold. The shape defect threshold is preset according to the shearing accuracy requirements of the CNC cross-section and the downstream customer's acceptance standards for the flatness of the strip.

[0027] This invention determines the straightening adjustment amount of the straightening machine based on the characteristics of the strip shape defects, which allows the adjustment action of the straightening machine to be directly related to the current actual strip shape state, avoiding the blindness caused by relying on preset parameters based on human experience. The straightening adjustment amount refers to the adjustment parameters required by each actuator of the straightening machine to suppress or eliminate strip shape defects, including bending roller adjustment amount, tilting roller adjustment amount, and pressing adjustment amount.

[0028] As an embodiment of the present invention, determining the straightening adjustment amount of the straightening machine based on the plate shape defect characteristics includes: The plate-shaped defect features are decomposed into symmetrical wave-shaped components, asymmetrical wave-shaped components, and higher-order wave-shaped components. The bending roller adjustment amount of the straightener is determined based on the symmetrical wave component. The tilting roller adjustment amount of the straightener is calculated based on the asymmetric wave component. Based on the higher-order waviness component, the pressing adjustment amount of the straightener is allocated to each adjustment section along the roller body direction; The straightening adjustment amount of the straightening machine is obtained by combining the bending roller adjustment amount, the tilting roller adjustment amount, and the pressing adjustment amount.

[0029] Wherein, the symmetrical wavy component refers to the sheet shape deviation of the metal strip that is symmetrically distributed relative to the centerline in the width direction; the asymmetrical wavy component refers to the sheet shape deviation of the metal strip that is asymmetrically distributed relative to the centerline in the width direction; the higher-order wavy component refers to the local sheet shape deviation of the metal strip that exhibits two or more peaks in the width direction; the bending roller adjustment amount is used to adjust the bending degree of the straightening roller to suppress the symmetrical wavy component; the tilting roller adjustment amount is used to adjust the tilt angle between the inlet side and the outlet side roller box of the straightener to suppress the asymmetrical wavy component; the adjustment section is a plurality of independent pressing control areas divided along the roller body direction of the straightener; the pressing adjustment amount is used to adjust the pressing amount of each of the adjustment sections respectively to suppress the higher-order wavy component.

[0030] Optionally, a finite number of Fourier series terms can be used to orthogonally decompose the plate shape defect features along the width direction of the metal strip. The sum of the zeroth term and the first cosine term of the Fourier series can be selected as the symmetric wave component, the first sine term of the Fourier series can be selected as the asymmetric wave component, and the second and higher harmonic terms of the Fourier series can be selected as the higher-order wave components.

[0031] S2. Establish the plate shape control law between the plate shape defect characteristics and the straightening adjustment amount. Based on the plate shape control law, determine the target plate shape parameters of the metal strip under different working conditions, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector.

[0032] This invention establishes a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount, which enables the straightening adjustment amount to be automatically determined based on the plate shape defect characteristics detected in real time, forming a quantitative mapping relationship between plate shape detection and straightening execution, and providing a control basis for online closed-loop plate shape adjustment. The plate shape control law refers to the quantitative mapping relationship between the plate shape defect characteristics and the straightening adjustment amount.

[0033] As an embodiment of the present invention, establishing a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount includes: Identify the edge waves, middle waves, quarter waves, and composite waves corresponding to the plate shape defect characteristics, and separate the bending roller adjustment amount and the zone pressing adjustment amount in the straightening adjustment amount; Extract the wave amplitude values ​​corresponding to the edge wave and the middle wave respectively, and determine the first sub-control law based on the wave amplitude value and the bending roller adjustment amount; Calculate the local waveform slope of the quarter wave, and determine the second sub-control law based on the local waveform slope and the partition pressure adjustment amount; The composite wave is subjected to multi-feature fusion to obtain the multi-feature fusion value of the composite wave; The third sub-control law is determined based on the multi-feature fusion value, the bending roller adjustment amount, and the partition pressing adjustment amount; The first sub-control law, the second sub-control law, and the third sub-control law are combined to obtain the plate shape control law.

[0034] Wherein, the edge wave refers to the wavy warp generated by the two sides of the metal strip relative to the middle area; the middle wave refers to the wavy warp generated by the middle area of ​​the metal strip relative to the two sides; the quarter wave refers to the local wavy warp that appears near the quarter position in the width direction of the metal strip; the composite wave refers to a mixed wave shape that simultaneously contains at least two of the characteristics of edge waves, middle waves, or quarter waves; the wave amplitude is determined by extracting the peak-to-valley difference value of the corresponding wave region in the plate stress distribution curve; the first sub-control law is used to establish a quantitative mapping relationship between the wave amplitude and the bending roll adjustment amount; the local waveform slope is determined by calculating the first derivative of the plate stress curve in the quarter wave region; the second sub-control law is used to establish a quantitative mapping relationship between the local waveform slope and the zoned pressure adjustment amount; the multi-feature fusion value is determined by weighted summation of the edge wave amplitude, middle wave amplitude, and quarter wave amplitude in the composite wave region; the third sub-control law is used to establish a quantitative mapping relationship between the multi-feature fusion value and the bending roll adjustment amount and the zoned pressure adjustment amount.

[0035] It should be noted that the first, second, and third sub-control laws are all in the form of linear functions. The bending roll adjustment is proportional to the wave amplitude, the zone pressing adjustment is proportional to the local waveform slope, and the bending roll adjustment and zone pressing adjustment are proportional to the multi-feature fusion value. Each proportional coefficient is determined through on-site debugging or historical data calibration.

[0036] As a specific example, let the bending roller adjustment amount be... Where A is the wave amplitude; let the zone pressure adjustment amount be... Where S is the local waveform slope; let the adjustment amount of the composite wave bending roller be denoted. Zone pressure adjustment amount Where F is the multi-feature fusion value, the , , , The proportional coefficient is calibrated based on the material, thickness, width, and production line speed of the metal strip. The calibration method is as follows: under stable operating conditions, record multiple sets of wave amplitude and residual strip shape deviation data after straightening, and obtain the optimal proportional coefficient under the operating condition by fitting using the least squares method; when the operating condition changes, call the pre-stored proportional coefficient under the corresponding operating condition, or obtain the proportional coefficient under the current operating condition by interpolation calculation.

[0037] Furthermore, by determining the target shape parameters of the metal strip under different working conditions based on the shape control law, the present invention enables the target value of shape control to automatically adapt to changes in working conditions, avoiding over-adjustment or under-adjustment of fixed target parameters when switching working conditions. The target shape parameters refer to the expected shape stress distribution curve or allowable range of shape deviation of the metal strip after straightening under the current working conditions.

[0038] As an embodiment of the present invention, based on the shape control law, the target shape parameters of the metal strip under different working conditions are determined, including: The mapping relationship in the plate shape control law that matches the current working condition is invoked to determine the preset adjustment amount; Based on the preset adjustment amount, establish the residual stress distribution curve that the metal strip is expected to achieve after straightening; Based on the residual stress distribution curve, the tolerance range for the shape deviation of the metal strip along the width direction is defined; Based on the tolerance range of the plate shape deviation, the target plate shape parameters of the metal strip under different working conditions are determined.

[0039] The mapping relationship refers to the quantitative correspondence between the characteristics of sheet shape defects and the straightening adjustment amount; the preset adjustment amount includes the preset values ​​of the bending roll, the tilting roll, and the pressing roll of each section of the straightener. The bending roll preset value is used to set the initial bending degree of the straightening roll, the tilting roll preset value is used to set the initial tilt angle between the inlet and outlet roll boxes, and the pressing roll preset value of each section is used to set the initial pressing amount of each adjustment section along the roll body direction; the current working condition is defined by at least the material grade, thickness specification, width dimension, production line running speed, and inlet tension setting value of the metal strip; the residual stress distribution curve is a curve describing the trend of residual stress change along the width direction of the metal strip after straightening; the sheet shape deviation tolerance range refers to the allowable fluctuation range of the residual stress distribution curve relative to the target zero stress line.

[0040] It should be noted that the mapping relationship invoked in the plate shape control law differs under different working conditions. Specifically, the straightening adjustment amount corresponding to the same plate shape defect feature varies under different working conditions. For example, for a steel plate with a thickness of 2.0 mm, the bending roll adjustment amount corresponding to an edge waviness amplitude of 1.0 mm is 1.2 mm; while for a steel plate with a thickness of 3.0 mm, the bending roll adjustment amount corresponding to the same edge waviness amplitude is 1.6 mm.

[0041] In an optional embodiment of the present invention, the residual stress distribution curve is established in the following manner: a preset adjustment amount is input into the empirical model of the straightening machine, and the residual stress distribution along the width direction of the metal strip after straightening is simulated and calculated. The empirical model is established by: collecting multiple sets of residual stress distribution data after straightening under different preset adjustment amount combinations, using the preset adjustment amount as input and the residual stress distribution as output, and using multivariate regression analysis to fit the polynomial relationship between the input and output. The order of the polynomial relationship is determined to be quadratic or cubic according to the fitting accuracy requirements.

[0042] In another optional embodiment of the present invention, the tolerance range for plate shape deviation is defined as follows: based on the residual stress distribution curve, an upper tolerance line and a lower tolerance line are set. The upper tolerance line is located above the zero stress line, and the lower tolerance line is located below the zero stress line. The area between the two tolerance lines is the tolerance range for plate shape deviation. The specific values ​​of the upper and lower tolerance lines are determined according to the user's requirements for plate shape quality or product standards. For example, for metal strips with ordinary precision requirements, the tolerance range can be set to ±10MPa; for metal strips with high precision requirements, the tolerance range can be set to ±5MPa.

[0043] This invention converts the plate shape defect characteristics into corresponding real-time plate shape deviation vectors based on the plate shape control law, which can provide a clear error basis for the generation of subsequent adjustment quantities and avoid the blind adjustment caused by the lack of a unified benchmark when the defect characteristics are directly used for adjustment.

[0044] As an embodiment of the present invention, based on the plate shape control law, the plate shape defect characteristics are converted into corresponding real-time plate shape deviation vectors, including: Extract the stress distribution sequence corresponding to the plate-shaped defect features along the width direction; Based on the deviation reference value defined in the plate shape control law, calculate the difference between each detection point in the stress distribution sequence and the deviation reference value; The differences between the detection points are arranged in order of width to generate the real-time plate shape deviation vector.

[0045] The stress distribution sequence refers to the data set composed of residual stress values ​​that are equally spaced along the width direction of the metal strip output by the plate shape detector, arranged in sequence; the deviation reference value refers to the residual stress reference value corresponding to the zero deviation state defined in the plate shape control law, and the midpoint of the tolerance range of the target plate shape parameter can be used as the deviation reference value; the detection points in the stress distribution sequence are the residual stress sampling points corresponding to each detection position in the width direction of the metal strip; the real-time plate shape deviation vector is characterized as a multi-dimensional vector composed of the difference between the residual stress value and the deviation reference value at each detection point arranged in the width direction.

[0046] S3. Monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time to generate the feedforward compensation amount of the actuator in the straightening machine.

[0047] This invention generates feedforward compensation for the actuator in the straightening machine by real-time monitoring of the production line speed change rate and tension fluctuation signal. This allows for advance compensation for plate shape fluctuations caused by speed or tension disturbances in transient operating conditions where speed or tension changes abruptly, avoiding response delays caused by relying solely on feedback adjustment.

[0048] Wherein, the production line speed change rate refers to the change in production line speed per unit time; the tension fluctuation signal refers to the dynamic deviation signal between the measured tension value and the target tension value of the tension detector on the inlet or outlet side of the straightener; the actuator is a drive device in the straightener used to output the straightening adjustment amount, including bending roller actuator, tilting roller actuator and each zone pressing actuator; the feedforward compensation amount is an additional adjustment command pre-calculated based on the production line speed change rate and tension fluctuation signal and output in parallel with the feedback adjustment amount, used to suppress transient plate shape fluctuations caused by sudden changes in speed or tension.

[0049] As an embodiment of the present invention, real-time monitoring of the production line speed change rate and tension fluctuation signal of the straightening machine is used to generate feedforward compensation amount for the actuator in the straightening machine, including: The corresponding changes in production line speed and tension fluctuations are extracted from the production line speed change rate and the tension fluctuation signal, respectively. Based on the change in production line speed and the deviation in tension fluctuation, determine the feedforward compensation coefficient corresponding to each actuator; Based on the feedforward compensation coefficient and the steady-state reference adjustment of each actuator under the current operating conditions, the feedforward compensation amount of the actuator in the straightening machine is generated.

[0050] In one optional embodiment of the present invention, the feedforward compensation amount is calculated using the following formula. It should be noted that this calculation method is only one possible method and does not affect the implementation of the basic scheme above: in, This represents the feedforward compensation amount for the j-th actuator. This represents the feedforward compensation coefficient corresponding to the change in production line speed. Indicates the change in production line speed. This indicates a reference value for production line speed. This represents the feedforward compensation coefficient corresponding to the tension fluctuation deviation. This indicates tension fluctuation deviation. Indicates the tension reference value. This represents the steady-state reference adjustment of the j-th actuator.

[0051] Specifically, the change in production line speed refers to the difference between the measured production line speed and the reference value of the production line speed, i.e. = The value is calculated by continuous sampling with a period of 10ms to 50ms using a speed encoder, and the range is -2.0 m / s to 2.0 m / s; the tension fluctuation deviation refers to the difference between the measured tension and the tension reference value, i.e. = The values ​​are obtained by continuous sampling and calculation using a tension sensor with a period of 10ms to 50ms, and the range is -5.0 kN to 5.0 kN. The steady-state reference adjustment refers to the initial action values ​​of each actuator of the straightener calculated according to the plate shape control law under the current working condition, including the preset values ​​of the bending roll, the tilting roll, and the pressing preset values ​​of each zone. The feedforward compensation coefficient includes the speed feedforward compensation coefficient. and tension feedforward compensation coefficient The result was obtained after calibration through offline step response experiments and correction using online recursive least squares method. The value range is -0.3 to 0.3. The value range is 0.1 to 0.8. Taking a bending roller actuator as an example: Let... =2.0 m / s, v=2.2 m / s, then =0.1; Let =20 kN, T=22 kN, then =0.1; Let =1.5 mm, =-0.15, =0.30, then the feedforward compensation amount =(-0.15×0.1+0.30×0.1)×1.5=0.015×1.5=0.0225 mm.

[0052] It should be noted that this formula outputs the compensation amount in the same control cycle where the disturbance occurs using a feedforward method, and works in parallel with the subsequent feedback adjustment without increasing the closed-loop response time. At the same time, the speed coefficient and tension coefficient are calibrated separately, which can adjust the sensitivity of each actuator to the two disturbances separately, avoiding the problem of poor adaptability caused by traditional fixed proportional coefficients or manual experience settings.

[0053] S4. Combining the real-time plate shape deviation vector with the target plate shape parameters, generate the working condition adaptive adjustment amount corresponding to each actuator, and fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator.

[0054] This invention generates adaptive adjustment amounts for each actuator by combining the real-time plate shape deviation vector with the target plate shape parameters. This allows the adjustment amount of the straightening machine to be automatically determined based on the actual situation of the current plate shape deviation, no longer relying on the preset value of the process card, thus achieving dynamic matching between the adjustment amount and the real-time working conditions.

[0055] As an embodiment of the present invention, by combining the real-time plate shape deviation vector and the target plate shape parameters, adaptive adjustment amounts corresponding to the working conditions of each actuator are generated, including: Extract the deviation energy concentration region and deviation direction features corresponding to the real-time plate shape deviation vector; The target plate shape parameters are divided into multiple sub-intervals along the width direction of the metal strip, and the upper and lower limits of deviation tolerance are determined for each sub-interval. Identify the excessively poor sections in the deviation energy concentration region that exceed the upper limit of the deviation tolerance and the underperforming sections that fall below the lower limit of the deviation tolerance; Based on the over-error zone, the under-error zone, and the deviation direction characteristics, determine the adaptive adjustment weight corresponding to each actuator; Based on the adaptive adjustment weights, the corresponding adaptive adjustment values ​​for each actuator are generated.

[0056] Wherein, the deviation energy concentration region refers to the width direction region corresponding to the principal singular value after the real-time plate shape deviation vector is decomposed by singular value decomposition; the deviation direction feature refers to the positive and negative sign distribution of the deviation values ​​of each detection point in the real-time plate shape deviation vector; the excessive deviation section refers to the continuous width section where the deviation amplitude exceeds the upper limit of the deviation tolerance; the insufficient deviation section refers to the continuous width section where the deviation amplitude is lower than the lower limit of the deviation tolerance.

[0057] As another embodiment of the present invention, the adaptive adjustment weights corresponding to each actuator are determined based on the over-error section, the under-error section, and the deviation direction characteristics, including: The excessive and insufficient deviation sections are mapped onto the roller width coordinates of the straightener to mark the deviation section coverage of each actuator; Based on the deviation direction characteristics, the adjustment polarity corresponding to each actuator is determined; Based on the coverage range of the deviation segment and the adjustment polarity, adaptive adjustment weights are assigned to each actuator.

[0058] The roller width coordinate refers to a one-dimensional coordinate system established along the axial direction of the straightener roller, used to mark the correspondence of each position in the width direction of the metal strip on the roller; the adjustment polarity represents the direction of the output adjustment amount of the actuator, with positive adjustment indicating an increase in output amount and negative adjustment indicating a decrease in output amount.

[0059] As another embodiment of the present invention, determining the adjustment polarity corresponding to each actuator based on the deviation direction characteristics includes: When the deviation direction characteristic is positive, the adjustment polarity of the corresponding actuator is determined to be negative. When the deviation direction characteristic is negative, the adjustment polarity of the corresponding actuator is determined to be positive.

[0060] Furthermore, by integrating the feedforward compensation amount and the working condition adaptive adjustment amount, the present invention generates compensation drive signals for each actuator, so that the output command of the straightening machine simultaneously includes pre-compensation for speed and tension disturbances and feedback correction for the current plate shape deviation. The two adjustment amounts are superimposed and output in the same drive signal, avoiding command conflicts or repeated adjustments caused by separate outputs.

[0061] Optionally, the feedforward compensation amount and the adaptive adjustment amount can be input into the PID controller. The PID controller uses the algebraic sum of the two as the set value and the current actual position of the actuator as the feedback value. After proportional, integral, and derivative operations, it outputs the compensation drive signal.

[0062] See Figure 2 The diagram shown is a schematic of the compensation drive signal generation principle provided in an embodiment of the present invention. Figure 2 As shown, the adaptive adjustment amount and the feedforward compensation amount are superimposed in an algebraic sum form, and the superposition result is used as the set value of the PID controller; the current position of the actuator is used as the feedback value of the PID controller; the PID controller outputs a compensation drive signal after proportional, integral and derivative operations based on the deviation between the set value and the feedback value, which drives the actuator to move, so that the output command of the straightening machine simultaneously includes pre-compensation for speed and tension disturbances and feedback correction for the current plate shape deviation.

[0063] S5. Based on the compensation drive signal, the action adjustment of each actuator is performed, and the compensation drive signal is updated according to the adjusted real-time plate shape deviation vector to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0064] This invention adjusts the actions of each actuator based on the compensation drive signal and updates the compensation drive signal according to the adjusted real-time strip shape deviation vector. This creates a closed-loop relationship between the straightener's adjustment action and the real-time strip shape state, avoiding reliance on manual experience or fixed working condition preset parameters. It solves the problem that the straightener cannot sense dynamic changes in strip shape under open-loop control, and achieves active compensation and online correction of strip shape deviation, thereby improving the strip shape control accuracy.

[0065] Specifically, based on the compensation drive signal, the actions of each actuator are adjusted, including: decoupling and decomposing the compensation drive signal into a bending roller drive component, an tilting roller drive component, and a pressing drive component; driving the bending roller actuator to produce positive or negative bending according to the bending roller drive component to adjust the elongation distribution of each region in the transverse direction of the metal strip; driving the tilting roller actuator to adjust the left and right tilt angles of the work roller according to the tilting roller drive component to correct the elongation difference on both sides of the metal strip; and driving the pressing drive actuator to adjust the pressing amount of the work roller according to the pressing drive component to control the overall straightening deformation degree.

[0066] As an embodiment of the present invention, updating the compensation drive signal according to the adjusted real-time plate shape deviation vector includes: When the amplitude of the real-time plate shape deviation vector exceeds the preset upper limit threshold, the output amplitude of the compensation drive signal is increased; When the amplitude of the real-time plate shape deviation vector is lower than the preset lower threshold, the output amplitude of the compensation drive signal is reduced. When the amplitude of the real-time plate shape deviation vector is between the upper threshold and the lower threshold, the current output amplitude of the compensation drive signal is maintained.

[0067] See Figure 3 The diagram shown is a logic diagram for comparing the magnitude of the real-time plate shape deviation vector provided in an embodiment of the present invention. Figure 3 As shown, the amplitude of the real-time plate shape deviation vector is compared with the preset upper and lower tolerance thresholds: if the amplitude exceeds the upper threshold, it is determined to be an over-error segment, and the corresponding segment position and amplitude information are output. At this time, the output amplitude of the compensation drive signal is increased; if the amplitude is lower than the lower threshold, it is determined to be an under-error segment, and the corresponding segment position and amplitude information are output. At this time, the output amplitude of the compensation drive signal is decreased; if the amplitude is between the upper and lower thresholds, the current output amplitude of the current compensation drive signal remains unchanged.

[0068] Specifically, the upper and lower thresholds are preset based on the target plate shape parameters and the allowable deviation range; the method of increasing the output amplitude is to multiply the current compensation drive signal by a gain coefficient greater than 1, wherein the gain coefficient is positively correlated with the degree of amplitude exceeding the limit, and the greater the degree of exceeding the limit, the greater the gain coefficient.

[0069] Preferably, the gain coefficient can be determined by the following formula: ,in Indicates the gain coefficient. This represents the difference between the amplitude and the upper limit threshold. This represents the preset scaling factor, and Limited to the preset maximum gain coefficient Within.

[0070] It should be noted that the method of reducing the output amplitude is the same as the method of increasing the output amplitude, the only difference being that the multiplier is an attenuation coefficient less than 1, which will not be elaborated here.

[0071] See Figure 4 The diagram shown is a schematic diagram of a module for an online closed-loop adjustment system for the shape of a CNC cross-section plate provided in an embodiment of the present invention.

[0072] The online closed-loop adjustment system 200 for CNC cross-cutting plate shape described in this invention can be installed in an electronic device. Depending on the functions implemented, the online closed-loop adjustment system for CNC cross-cutting plate shape includes a plate shape detection module 201, a control law construction module 202, a feedforward compensation module 203, a drive signal generation module 204, and a closed-loop adjustment module 205. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, stored in the memory of the electronic device.

[0073] In this embodiment of the invention, the functions of each module / unit are as follows: The plate shape detection module 201 is used to deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Through the plate shape detector, the plate shape defect features of the straightened metal strip are extracted, and the straightening adjustment amount of the straightening machine is determined based on the plate shape defect features. The control law construction module 202 is used to establish a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount, determine the target plate shape parameters of the metal strip under different working conditions based on the plate shape control law, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. The feedforward compensation module 203 is used to monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time, so as to generate the feedforward compensation amount of the actuator in the straightening machine. The drive signal generation module 204 is used to combine the real-time plate shape deviation vector and the target plate shape parameters to generate the working condition adaptive adjustment amount corresponding to each actuator, and to fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator. The closed-loop adjustment module 205 is used to adjust the action of each actuator based on the compensation drive signal, and update the compensation drive signal according to the adjusted real-time plate shape deviation vector, so as to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0074] In detail, the modules in the online closed-loop adjustment system 200 for CNC cross-cutting plate shape described in this embodiment of the invention adopt the same characteristics as described above during use. Figure 1 This method employs the same technique as described in the paper for online closed-loop adjustment of the shape of CNC cross-section plates, and can produce the same technical effect; therefore, it will not be elaborated upon here.

[0075] In one embodiment, a computer device is provided, which may be a server or a client, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used for communication with external clients via a network connection. When executed by the processor, the computer program implements functions or steps on the server or client side of a method for online closed-loop adjustment of CNC cross-section plate shape.

[0076] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: S1. Deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Extract the plate shape defect features of the straightened metal strip through the plate shape detector. Determine the straightening adjustment amount of the straightening machine based on the plate shape defect features. S2. Establish the plate shape control law between the plate shape defect characteristics and the straightening adjustment amount. Based on the plate shape control law, determine the target plate shape parameters of the metal strip under different working conditions, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. S3. Monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time to generate the feedforward compensation amount of the actuator in the straightening machine; S4. Combining the real-time plate shape deviation vector with the target plate shape parameters, generate the working condition adaptive adjustment amount corresponding to each actuator, and fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator. S5. Based on the compensation drive signal, the action adjustment of each actuator is performed, and the compensation drive signal is updated according to the adjusted real-time plate shape deviation vector to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0077] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor: S1. Deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Extract the plate shape defect features of the straightened metal strip through the plate shape detector. Determine the straightening adjustment amount of the straightening machine based on the plate shape defect features. S2. Establish the plate shape control law between the plate shape defect characteristics and the straightening adjustment amount. Based on the plate shape control law, determine the target plate shape parameters of the metal strip under different working conditions, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. S3. Monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time to generate the feedforward compensation amount of the actuator in the straightening machine; S4. Combining the real-time plate shape deviation vector with the target plate shape parameters, generate the working condition adaptive adjustment amount corresponding to each actuator, and fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator. S5. Based on the compensation drive signal, the action adjustment of each actuator is performed, and the compensation drive signal is updated according to the adjusted real-time plate shape deviation vector to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

[0078] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or computer device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0079] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Furthermore, any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0081] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0082] Finally, it should be noted that in the above embodiments, each embodiment can be combined with each other or independent. Deleting any one of them will not affect the technical implementation of other embodiments. The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for on-line closed loop adjustment of a numerically controlled cross-cutting rule shape, characterized in that, The method includes: A plate shape detector is deployed on the exit side of the straightening machine for CNC cross-cutting. The plate shape defect characteristics of the straightened metal strip are extracted through the plate shape detector. Based on the plate shape defect characteristics, the straightening adjustment amount of the straightening machine is determined. Establish a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount; based on the plate shape control law, determine the target plate shape parameters of the metal strip under different working conditions; and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. The production line speed change rate and tension fluctuation signal of the straightening machine are monitored in real time to generate the feedforward compensation amount of the actuator in the straightening machine; By combining the real-time plate shape deviation vector with the target plate shape parameters, the working condition adaptive adjustment amount corresponding to each actuator is generated. The feedforward compensation amount and the working condition adaptive adjustment amount are fused to generate the compensation drive signal for each actuator. Based on the compensation drive signal, the actions of each actuator are adjusted, and the compensation drive signal is updated according to the adjusted real-time plate shape deviation vector to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

2. A method for on-line closed loop adjustment of a numerically controlled cross-cutting strip shape according to claim 1, characterized in that, By combining the real-time plate shape deviation vector with the target plate shape parameters, adaptive adjustment amounts for each actuator are generated, including: Extract the deviation energy concentration region and deviation direction features corresponding to the real-time plate shape deviation vector; The target plate shape parameters are divided into multiple sub-intervals along the width direction of the metal strip, and the upper and lower limits of deviation tolerance are determined for each sub-interval. Identify the excessively poor sections in the deviation energy concentration region that exceed the upper limit of the deviation tolerance and the underperforming sections that fall below the lower limit of the deviation tolerance; Based on the over-error zone, the under-error zone, and the deviation direction characteristics, determine the adaptive adjustment weight corresponding to each actuator; Based on the adaptive adjustment weights, the corresponding adaptive adjustment values ​​for each actuator are generated.

3. A method for on-line closed loop adjustment of a numerically controlled cross-cutting rule shape as claimed in claim 2, characterized in that, Based on the over-error zone, the under-error zone, and the deviation direction characteristics, the adaptive adjustment weights corresponding to each actuator are determined, including: The excessive and insufficient deviation sections are mapped onto the roller width coordinates of the straightener to mark the deviation section coverage of each actuator; Based on the deviation direction characteristics, the adjustment polarity corresponding to each actuator is determined; Based on the coverage range of the deviation segment and the adjustment polarity, adaptive adjustment weights are assigned to each actuator.

4. A method for on-line closed loop adjustment of a numerically controlled cross-cutting rule shape as claimed in claim 3, characterized in that, Based on the deviation direction characteristics, the adjustment polarity corresponding to each actuator is determined, including: When the deviation direction characteristic is positive, the adjustment polarity of the corresponding actuator is determined to be negative. When the deviation direction characteristic is negative, the adjustment polarity of the corresponding actuator is determined to be positive.

5. An on-line closed loop adjustment method for a numerical controlled cross cutting strip shape as claimed in claim 1, characterized in that, Real-time monitoring of the production line speed change rate and tension fluctuation signal of the straightening machine to generate feedforward compensation for the actuators in the straightening machine, including: The corresponding changes in production line speed and tension fluctuations are extracted from the production line speed change rate and the tension fluctuation signal, respectively. Based on the change in production line speed and the deviation in tension fluctuation, determine the feedforward compensation coefficient corresponding to each actuator; Based on the feedforward compensation coefficient and the steady-state reference adjustment of each actuator under the current operating conditions, the feedforward compensation amount of the actuator in the straightening machine is generated.

6. An on-line closed loop adjustment method for a numerical controlled cross-cutting strip shape as claimed in claim 1, characterized in that, Based on the characteristics of the plate shape defect, the straightening adjustment amount of the straightening machine is determined, including: The plate-shaped defect features are decomposed into symmetrical wave-shaped components, asymmetrical wave-shaped components, and higher-order wave-shaped components. The bending roller adjustment amount of the straightener is determined based on the symmetrical wave component. The tilting roller adjustment amount of the straightener is calculated based on the asymmetric wave component. Based on the higher-order waviness component, the pressing adjustment amount of the straightener is allocated to each adjustment section along the roller body direction; The straightening adjustment amount of the straightening machine is obtained by combining the bending roller adjustment amount, the tilting roller adjustment amount, and the pressing adjustment amount.

7. An on-line closed loop adjustment method for a numerical controlled cross cutting rule shape as claimed in claim 1, characterized by, Establishing a plate shape control law between the plate shape defect characteristics and the straightening adjustment amount includes: Identify the edge waves, middle waves, quarter waves, and composite waves corresponding to the plate shape defect characteristics, and separate the bending roller adjustment amount and the zone pressing adjustment amount in the straightening adjustment amount; Extract the wave amplitude values ​​corresponding to the edge wave and the middle wave respectively, and determine the first sub-control law based on the wave amplitude value and the bending roller adjustment amount; Calculate the local waveform slope of the quarter wave, and determine the second sub-control law based on the local waveform slope and the partition pressure adjustment amount; The composite wave is subjected to multi-feature fusion to obtain the multi-feature fusion value of the composite wave; The third sub-control law is determined based on the multi-feature fusion value, the bending roller adjustment amount, and the partition pressing adjustment amount; The first sub-control law, the second sub-control law, and the third sub-control law are combined to obtain the plate shape control law.

8. An on-line closed loop adjustment method for a numerical controlled cross cutting strip shape as claimed in claim 1, characterized in that, The compensation drive signal is updated based on the adjusted real-time plate shape deviation vector, including: When the amplitude of the real-time plate shape deviation vector exceeds the preset upper limit threshold, the output amplitude of the compensation drive signal is increased; When the amplitude of the real-time plate shape deviation vector is lower than the preset lower threshold, the output amplitude of the compensation drive signal is reduced. When the amplitude of the real-time plate shape deviation vector is between the upper threshold and the lower threshold, the current output amplitude of the compensation drive signal is maintained.

9. The method for online closed-loop adjustment of the shape of a CNC cross-section plate as described in claim 1, characterized in that, The plate shape detector is a non-contact laser detection device, including at least one line laser generator and at least one area array camera. The line laser generator is fixed above the metal strip on the exit side of the straightener, forming an angle of 45° to 75° with the normal direction of the metal strip, and is used to project a linear laser beam onto the surface of the metal strip. The area array camera is installed on the same side as the line laser generator, and its optical axis forms an angle of 30° to 60° with the laser projection plane, and is used to acquire laser line images of the surface of the metal strip.

10. A closed-loop adjustment system for the shape of a CNC cross-section plate, employing the closed-loop adjustment method for the shape of a CNC cross-section plate as described in any one of claims 1-9, characterized in that, The system includes: The plate shape detection module is used to deploy a plate shape detector on the exit side of the straightening machine of the CNC cross-cutting line. Through the plate shape detector, the plate shape defect characteristics of the straightened metal strip are extracted, and the straightening adjustment amount of the straightening machine is determined based on the plate shape defect characteristics. The control law construction module is used to establish the plate shape control law between the plate shape defect characteristics and the straightening adjustment amount, determine the target plate shape parameters of the metal strip under different working conditions based on the plate shape control law, and convert the plate shape defect characteristics into the corresponding real-time plate shape deviation vector. The feedforward compensation module is used to monitor the production line speed change rate and tension fluctuation signal of the straightening machine in real time, so as to generate the feedforward compensation amount of the actuator in the straightening machine; The drive signal generation module is used to combine the real-time plate shape deviation vector with the target plate shape parameters to generate the working condition adaptive adjustment amount corresponding to each actuator, and to fuse the feedforward compensation amount and the working condition adaptive adjustment amount to generate the compensation drive signal for each actuator. The closed-loop adjustment module is used to adjust the action of each actuator based on the compensation drive signal, and update the compensation drive signal according to the adjusted real-time plate shape deviation vector, so as to realize the online closed-loop adjustment of the plate shape of the CNC cross section.

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