Cold rolling mill zone cooling control methods, electronic equipment and program products

Abstract

This disclosure provides a method, electronic equipment, and program product for zoned cooling control of a cold rolling mill. The method includes: determining the residual shape error vector corresponding to the strip within a first control cycle; determining the cooling correction vector for the first control cycle; determining a proportional gain vector and an integral gain vector based on the strip speed at the mill exit, the strip width, and the strip thickness; calculating a proportional-derivative control quantity based on the residual shape error vector, the proportional gain vector, and the error change; calculating an integral control quantity based on the residual shape error vector and the integral gain vector; adding the proportional-derivative control quantity, the integral control quantity, and the cooling correction vector and then performing amplitude limiting to obtain the total zoned cooling control quantity; and performing zoned cooling control on each measurement area based on the total zoned cooling control quantity.

Description

Technical Field

[0001] This disclosure relates to the field of industrial control, specifically to a method for zoned cooling control of a cold rolling mill, electronic equipment, and program products. Background Technology

[0002] In the automatic control system of cold rolling mills, strip shape control is one of the important indicators of product quality. Modern cold-rolled strip steel production lines are equipped with advanced strip shape control methods. Units with strict requirements for strip shape are equipped with contact-type strip shape rollers to accurately measure the radial tension of the strip passing through it. After conversion, a real-time strip shape signal can be obtained. The strip shape closed-loop feedback control system calculates the deviation between the actual strip shape and the target strip shape based on the online detected strip shape signal. It further calculates the control output of the strip shape adjustment mechanism needed to eliminate these deviations, enabling the mill to continuously, dynamically, and in real-time adjust the strip shape during the rolling process, ultimately resulting in a stable and good strip shape for the finished product.

[0003] Commonly used methods for shape control include tilting rollers, bending work rollers, and bending intermediate rollers. While these methods can eliminate most shape errors, they only improve the overall shape error and cannot precisely target each measurement area on the shape roller, thus failing to completely eliminate the shape error. This means that even after adjusting with tilting rollers, bending work rollers, and bending intermediate rollers, some shape errors remain uncompensated. Therefore, modern shape control systems are also equipped with a measurement area cooling system, which can individually adjust the cooling amount for each measurement area of ​​the shape roller, theoretically possessing the ability to eliminate all remaining shape errors.

[0004] The cooling system for the measurement area is equipped with nozzles next to both the upper and lower rolls of the rolling mill. The nozzle positions correspond one-to-one with the measurement areas of the strip roll. The upper row of nozzles cools the upper roll and the upper surface of the strip, while the lower row cools the lower roll and the lower surface of the strip. Since the measurement area of ​​the strip roll generally has two widths—wider in the middle and narrower on the sides—the maximum flow rate of the corresponding nozzles also differs. Existing cooling control methods for the measurement area generally only consider compensating for remaining strip shape errors without considering the heat generated during the rolling process, the impact of the sprayed coolant on adjacent areas, or the use of adaptive parameter PID controllers. Therefore, they are somewhat lacking in control accuracy and effectiveness. Summary of the Invention

[0005] This disclosure provides a method, electronic equipment, and program product for zoned cooling control of a cold rolling mill.

[0006] According to one aspect of this disclosure, a method for zoned cooling control of a cold rolling mill is provided, comprising: determining a residual shape error vector corresponding to the strip within a first control cycle based on a strip shape setting vector corresponding to the strip, an actual strip shape value vector for a first control cycle, a strip shape compensation amount for the first control cycle, and a correlation compensation amount for each measurement area, wherein the residual shape error vector includes the residual shape error amount for each measurement area corresponding to the strip; determining a cooling amount correction vector for the first control cycle based on the average rolling roll gap power at a first moment and the average cooling amount for the second control cycle; and determining a first... The proportional gain vector at time step 1 and the integral gain vector at time step 2 are calculated. Based on the plate shape residual error vector, the proportional gain vector at time step 3, and the error change in the first control cycle, the proportional derivative control quantity of the first control cycle is calculated. Based on the plate shape residual error vector and the integral gain vector at time step 4, the integral control quantity of the first time step 5 is calculated. The proportional derivative control quantity at time step 1, the integral control quantity at time step 2, and the cooling amount correction vector of the first control cycle are added together and then subjected to amplitude limiting to obtain the total cooling control quantity of the first control cycle. Based on the total cooling control quantity of the first control cycle, the cooling control quantity of each measurement area is applied to the partitioned cooling area.

[0007] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, the remaining shape error vector of the strip in the first control cycle is determined based on the strip shape setting vector corresponding to the strip, the actual shape value vector of the first control cycle, the shape compensation amount of the first control cycle, and the correlation compensation amount of each measurement area. The method includes: determining the measurement area corresponding to the strip; converting the tension measurement value measured by the shape roll into the actual shape value vector of the first control cycle; subtracting the shape compensation amount of the first control cycle from the shape setting vector to obtain the remaining shape setting vector of the first control cycle; calculating the difference between the actual shape value vector and the remaining shape setting vector to obtain the shape error vector of the first control cycle; calculating the correlation compensation amount of each measurement area corresponding to the strip based on the shape error vector, and forming a correlation compensation vector; multiplying the shape error vector by an error weighting factor and adding it to the correlation compensation vector to obtain the remaining shape error vector of the first control cycle.

[0008] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, determining the measurement area corresponding to the strip includes: the width of the measurement area corresponding to the two sides of the strip is smaller than the width of the measurement area corresponding to the middle of the strip.

[0009] According to at least one embodiment of the cold rolling mill zone cooling control method of the present disclosure, the tension measurement value measured by the strip roll is converted into a strip shape actual value vector for the first control cycle, including: constructing a tension measurement value vector based on the tension measurement value corresponding to each measurement area; and dividing the tension measurement value vector by the product of the strip thickness value and the strip elastic modulus to obtain the strip shape actual value vector for the first control cycle.

[0010] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, before subtracting the shape compensation amount of the first control cycle from the shape setting vector, the method further includes: determining the shape compensation amount of the first control cycle, including: constructing a row vector based on the tilt roll adjustment amount, the work roll bending roll adjustment amount, and the intermediate roll bending roll adjustment amount of the first control cycle; constructing a column vector based on the tilt roll efficiency coefficient vector, the work roll bending roll efficiency coefficient vector, and the intermediate roll bending roll efficiency coefficient vector; and performing matrix multiplication operation on the row vector and the column vector to obtain the shape compensation amount of the first control cycle.

[0011] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, the correlation compensation amount of the strip steel corresponding to each measurement area is calculated based on the strip shape error vector, including: The measurement areas corresponding to the strip steel are sequentially designated from the operating side to the transmission side as the first operating side measurement area, the second operating side measurement area, the third operating side measurement area, the fourth operating side measurement area, ..., the fourth transmission side measurement area, the third transmission side measurement area, the second transmission side measurement area, and the first transmission side measurement area. The correlation compensation amount for the first operating side measurement area closest to the operating side is set as the product of the shape error vector of the adjacent second operating side measurement area and the first edge correlation factor. The correlation compensation amount for the second operating side measurement area is set as the sum of the product of the shape error vector of the first operating side measurement area and the second edge correlation factor, and the sum of the products of the shape error vector of the adjacent third operating side measurement area and the intermediate correlation factor. The correlation compensation amount for the third operating side measurement area is set as the product of the shape error vector of the second operating side measurement area and the third edge correlation factor, and the sum of the products of the shape error vector of the adjacent fourth operating side measurement area and the intermediate correlation factor. The sum of products; the correlation compensation amount of the first transmission side measurement area closest to the transmission side is set as the product of the plate shape error vector of the second transmission side measurement area adjacent to the first transmission side measurement area and the first edge correlation factor; the correlation compensation amount of the second transmission side measurement area is set as the product of the plate shape error vector of the first transmission side measurement area and the second edge correlation factor, and the sum of the products of the plate shape error vector of the third transmission side measurement area adjacent to the second transmission side measurement area and the intermediate correlation factor; the correlation compensation amount of the third transmission side measurement area is set as the product of the plate shape error vector of the second transmission side measurement area and the third edge correlation factor, and the sum of the products of the plate shape error vector of the fourth transmission side measurement area adjacent to the third transmission side measurement area and the intermediate correlation factor; the correlation compensation amount of the fourth operation side measurement area, the fourth transmission side measurement area, and the measurement area between the fourth operation side measurement area and the fourth transmission side measurement area is set as the sum of the products of the plate shape error vectors of the measurement areas on both sides and the intermediate correlation factor.

[0012] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, a cooling amount correction vector for the first control cycle is determined based on the average rolling roll gap power at a first moment and the average cooling amount of the second control cycle. The method includes: determining the average cooling amount of the second control cycle based on the zone cooling control amount of each measurement area and the width factor of each measurement area in the second control cycle; multiplying the actual rolling force value at the first moment by the strip speed at the mill exit at the first moment and dividing by the strip width value to obtain the unit width rolling power; calculating the average of the unit width rolling power over a set length range of the strip to obtain the average rolling roll gap power at the first moment; finding the corresponding cooling amount based on the average rolling roll gap power to obtain the target cooling amount of the first control cycle; calculating the difference between the target cooling amount and the average cooling amount to obtain the cooling amount difference of the first control cycle; and calculating the product of the cooling amount difference and the width factor vector to obtain the cooling amount correction vector of the first control cycle, wherein the width factor vector is composed of the width factors of each measurement area.

[0013] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, determining the proportional gain vector and the integral gain vector at a first moment based on the strip speed, strip width, and strip thickness at a first moment includes: determining a speed proportional gain factor, a width proportional gain factor, and a thickness proportional gain factor respectively using a first linear interpolation algorithm based on the strip speed, strip width, and strip thickness at the first moment; determining a speed integral gain factor, a width integral gain factor, and a thickness integral gain factor respectively using a second linear interpolation algorithm; multiplying the speed proportional gain factor, the width proportional gain factor, and the thickness proportional gain factor and then performing amplitude limiting processing to obtain the proportional gain vector at the first moment; and multiplying the speed integral gain factor, the width integral gain factor, and the thickness integral gain factor and then performing amplitude limiting processing to obtain the integral gain vector at the first moment.

[0014] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, the proportional differential control quantity at the first moment is calculated based on the residual error vector of the plate shape, the proportional gain vector at the first moment, and the error change amount of the first control cycle. The method includes: multiplying the residual error vector of the plate shape in the first control cycle by the proportional gain vector at the first moment to obtain the proportional control vector at the first moment; multiplying the residual error vector of the plate shape in the first control cycle by the error change amount of the first control cycle to obtain the error trend judgment vector of the first control cycle; determining the differential gain vector based on whether the values ​​of each element in the error trend judgment vector of the first control cycle are greater than zero, wherein the element values ​​in the differential gain vector corresponding to the elements with values ​​greater than zero in the error trend judgment vector are set to fixed values, and the element values ​​in the differential gain vector corresponding to the elements with values ​​less than or equal to zero in the error trend judgment vector are set to 0; and multiplying the proportional control vector by 1 and the sum of the differential gain vector, then subtracting the product of the proportional control vector and the differential gain vector after processing by a first-order vector smoothing operator, to obtain the proportional differential control quantity at the first moment.

[0015] According to at least one embodiment of the cold rolling mill zone cooling control method of the present disclosure, the integral control quantity at a first moment is calculated based on the residual error vector of the plate shape and the integral gain vector at a first moment, including: determining whether the value of each element in the vector is less than zero based on the error trend, correcting the integral gain vector at the first moment to obtain a target integral gain vector; and calculating the integral control quantity at the first moment based on the residual error vector of the plate shape and the target integral gain vector.

[0016] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, the integral gain vector at a first moment is corrected based on whether the value of each element in the error trend judgment vector is less than zero to obtain a target integral gain vector, including: in the target integral gain vector, setting the value of the element corresponding to the element with a value less than zero in the error trend judgment vector to 0, and the value of the element at the other position is the same as the value of the element at the corresponding position in the integral gain vector.

[0017] According to at least one embodiment of the cold rolling mill zone cooling control method of this disclosure, the integral control quantity at a first moment is calculated based on the residual error vector of the plate shape and the target integral gain vector, including: multiplying the quotient of the PLC sampling time divided by the integral time parameter with the residual error vector of the plate shape and the target integral gain vector to obtain a third product; and performing discrete integration on the third product to obtain the integral control quantity at the first moment, wherein the discrete integration operation is used to accumulate the input value at each sampling moment in the PLC.

[0018] According to another aspect of this disclosure, an electronic device is provided, comprising: a memory storing execution instructions; and a processor executing the execution instructions stored in the memory, causing the processor to perform a cold rolling mill zone cooling control method according to any embodiment of this disclosure.

[0019] According to another aspect of this disclosure, a readable storage medium is provided, wherein executable instructions are stored therein, which, when executed by a processor, are used to implement the cold rolling mill zone cooling control method of any embodiment of this disclosure.

[0020] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the cold rolling mill zone cooling control method of any embodiment of this disclosure.

[0021] This disclosure uses a correlation factor to compensate for the influence of coolant on adjacent areas and considers the impact of heat generated during rolling on the cooling effect, thereby significantly improving the control accuracy of zoned cooling. By comparing the plate shape error in the two most recent control cycles, differential and integral control are enabled in areas where the error increases, while they are disabled in areas where the error decreases, ensuring that the plate shape error continues to decrease. Furthermore, adaptive gain is used in the proportional and integral calculations, improving adaptability under various operating conditions and effectively enhancing the control accuracy and quality of zoned cooling. Attached Figure Description

[0022] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0023] Figure 1 This is a schematic flowchart of a cold rolling mill zone cooling control method according to one embodiment of the present disclosure.

[0024] Figure 2 This is a flowchart illustrating the method corresponding to step S110 of one embodiment of the present disclosure.

[0025] Figure 3 This is a flowchart illustrating the method corresponding to step S120 of one embodiment of the present disclosure.

[0026] Figure 4 This is a flowchart illustrating the method corresponding to step S130 of one embodiment of the present disclosure.

[0027] Figure 5 This is a flowchart illustrating the method corresponding to step S140 of one embodiment of the present disclosure.

[0028] Figure 6 This is a flowchart illustrating the method corresponding to step S150 of one embodiment of the present disclosure.

[0029] Figure 7 This is a schematic structural block diagram of an electronic device employing a processor-based hardware implementation according to one embodiment of the present disclosure. Detailed Implementation

[0030] The present disclosure will now be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0031] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Figure 1 A schematic flowchart illustrating the overall process of a cold rolling mill zone cooling control method according to one embodiment of this disclosure is shown. Figure 1 The method shown includes steps S110 to S170.

[0033] In step S110, the residual shape error vector of the strip within the first control cycle is determined based on the strip shape setting vector corresponding to the strip, the actual shape value vector of the first control cycle, the shape compensation amount of the first control cycle, and the correlation compensation amount of each measurement area. The residual shape error vector includes the residual shape error amount of the strip corresponding to each measurement area.

[0034] In one possible implementation, one rotation of the plate roller can be considered as a control cycle. The first control cycle can be the current control cycle, and can be represented by the sequence number k.

[0035] Regarding step S110, in some embodiments of this disclosure, it may include, for example... Figure 2 Steps S111 to S116 are shown.

[0036] In step S111, the measurement area corresponding to the strip is determined.

[0037] As an alternative implementation, the strip shape is detected by a contact-type shape roller. The shape roller can be divided into several measurement areas along the width direction of the strip.

[0038] The measurement area is divided into an operating side and a drive side. The operating side is the side of the rolling mill where operators work. The drive side is the side of the rolling mill where the drive mechanism is located. The measurement areas are numbered starting from the operating side. The outermost measurement area on the operating side is designated as area 1, and the numbering gradually increases towards the drive side. The outermost measurement area on the drive side is designated as the highest number. .

[0039] As a further implementation, determining the measurement area corresponding to the strip includes: the width of the measurement area corresponding to both sides of the strip is smaller than the width of the measurement area corresponding to the middle of the strip. For example, the measurement area includes two widths: a wider measurement area corresponding to the middle of the strip and a narrower measurement area corresponding to the edges of the strip (including the operating side and the transmission side). For example, the width of the wider measurement area can be twice the width of the narrower measurement area. This implementation can improve the edge shape detection accuracy while balancing the detection efficiency and system computational load in the middle, achieving a reasonable balance between detection accuracy and detection cost across the entire width of the strip.

[0040] Since the width of the strip is usually smaller than the effective detection width of the plate roll, the strip cannot cover the entire measurement area on the plate roll. Therefore, it is necessary to determine the actual measurement area covered by the strip based on its width value, which will then be used as the corresponding measurement area for the strip.

[0041] For example, the first operating side measurement area of ​​the strip steel near the operating side can be numbered as follows: The first transmission side measurement area of ​​the strip steel closest to the transmission side is numbered as follows: The total number of measurement areas covered by the strip steel is... for: .

[0042] In step S112, the tension measurement value measured by the plate roll is converted into the actual plate shape value vector of the first control cycle.

[0043] As one possible implementation, a piezoelectric sensor is set in each measurement area. The piezoelectric sensor can collect the tension measurement value of the strip tension and convert it into an electrical signal before sending it to the PLC controller.

[0044] As one possible implementation, converting the tension measurement values ​​from the strip roll measurement into a strip shape actual value vector for the first control cycle includes: constructing a tension measurement value vector based on the tension measurement values ​​corresponding to each measurement area; and dividing the tension measurement value vector by the product of the strip thickness and the strip's elastic modulus to obtain the strip shape actual value vector for the first control cycle.

[0045] For example, tension measurement value vector It can be represented as:

[0046] in, This indicates the tension measurement value in the first operating side measurement area. This indicates the tension measurement value of the first transmission side measurement area.

[0047] The actual value vector of the plate shape in the first control cycle can be calculated using the following formula. :

[0048] in, This indicates the thickness value of the strip steel. This indicates the elastic modulus of the strip steel.

[0049] In step S113, the plate shape compensation amount of the first control cycle is subtracted from the plate shape setting vector to obtain the remaining plate shape setting vector of the first control cycle.

[0050] As one possible implementation, before subtracting the shape compensation amount of the first control cycle from the shape setting vector, the method further includes: determining the shape compensation amount of the first control cycle, including: constructing a row vector based on the tilting roll adjustment amount, the work roll bending roll adjustment amount, and the intermediate roll bending roll adjustment amount of the first control cycle; and constructing a column vector based on the tilting roll efficiency coefficient vector, the work roll bending roll efficiency coefficient vector, and the intermediate roll bending roll efficiency coefficient vector. The row vector and column vector are then multiplied by a matrix to obtain the shape compensation amount of the first control cycle.

[0051] For example, the remaining plate shape setting vector of the first control cycle The calculation formula can be expressed as:

[0052] in, The shape setting vector can be used to characterize the target shape distribution of the strip along the width direction; This indicates the tilting roller adjustment amount for the first control cycle; This indicates the adjustment amount of the work roll bending during the first control cycle. This indicates the intermediate roll bending adjustment amount for the first control cycle. Represents the vector of tilting roller efficiency coefficients; This represents the vector of bending efficiency coefficients of the work roll; This represents the vector of intermediate roll bending efficiency coefficients; the superscript T indicates transpose.

[0053] In step S114, the difference between the actual plate shape value vector and the remaining plate shape setting vector is calculated to obtain the plate shape error vector for the first control cycle.

[0054] For example, the plate shape error vector of the first control cycle The calculation formula can be expressed as: .

[0055] In step S115, the correlation compensation amount for each measurement area of ​​the strip is calculated based on the strip shape error vector, and a correlation compensation vector is formed.

[0056] In one example, the plate roll contains 38 measurement zones, corresponding to 38 nozzles on each of the upper and lower spray beams of the rolling mill, each corresponding to a measurement zone. The 14 measurement zones in the middle of the plate roll are wide zones, and there are 12 narrow zones on each side. The width of the wide zone is twice the width of the narrow zone, and correspondingly, the maximum flow rate of the nozzles in the wide zone is twice that of the nozzles in the narrow zone.

[0057] Considering that the coolant sprayed from the nozzles affects adjacent areas on both sides, correlation compensation is required for each cooling zone. In the measurement area not covered by the strip, the flow rate of the corresponding nozzle can be set to zero. In the measurement area covered by the strip, the correlation compensation amount for each zone needs to be calculated.

[0058] Considering that the three regions on both sides have different correlation factors compared to the middle region, there are a total of four correlation factors: the correlation factors of the first to third regions on the sides are respectively set as the first side correlation factor. Second marginal correlation factor Correlation factor with the third side The correlation factor for the intermediate region is set as the intermediate correlation factor. In one possible implementation, the correlation compensation amount for each measurement area of ​​the strip is calculated based on the strip shape error vector, including: The measurement areas corresponding to the strip steel are sequentially set from the operating side to the transmission side as the first operating side measurement area, the second operating side measurement area, the third operating side measurement area, the fourth operating side measurement area, ..., the fourth transmission side measurement area, the third transmission side measurement area, the second transmission side measurement area, and the first transmission side measurement area.

[0059] The correlation compensation amount for the first operating side measurement region closest to the operating side is set as the product of the plate shape error vector of the adjacent second operating side measurement region and the first edge correlation factor. The correlation compensation amount for the second operating side measurement region is set as the sum of the products of the plate shape error vector of the first operating side measurement region and the second edge correlation factor, and the plate shape error vector of the adjacent third operating side measurement region and the intermediate correlation factor. The correlation compensation amount for the third operating side measurement region is set as the sum of the products of the plate shape error vector of the second operating side measurement region and the third edge correlation factor, and the plate shape error vector of the adjacent fourth operating side measurement region and the intermediate correlation factor.

[0060] The correlation compensation amount for the first transmission-side measurement region closest to the transmission side is set as the product of the plate shape error vector of the adjacent second transmission-side measurement region and the first edge correlation factor. The correlation compensation amount for the second transmission-side measurement region is set as the sum of the products of the plate shape error vector of the first transmission-side measurement region and the second edge correlation factor, and the plate shape error vector of the adjacent third transmission-side measurement region and the intermediate correlation factor. The correlation compensation amount for the third transmission-side measurement region is set as the sum of the products of the plate shape error vector of the second transmission-side measurement region and the third edge correlation factor, and the plate shape error vector of the adjacent fourth transmission-side measurement region and the intermediate correlation factor.

[0061] The correlation compensation amount of the fourth operating side measurement area, the fourth transmission side measurement area, and the measurement area between the fourth operating side measurement area and the fourth transmission side measurement area is set as the sum of the product of the plate shape error vector of the adjacent two sides measurement areas and the intermediate correlation factor.

[0062] For example, the formulas for calculating the correlation compensation amount of the first operating side measurement area, the second operating side measurement area, and the third operating side measurement area, which are closer to the operating side, can be expressed as follows:

[0063]

[0064]

[0065] in, This indicates the correlation compensation amount for the measurement area on the first operating side; This indicates the correlation compensation amount for the measurement area on the second operating side; This indicates the correlation compensation amount for the third operating side measurement area; This represents the plate shape error vector of the first operating side measurement area; This represents the plate shape error vector of the measurement area on the second operating side; This represents the plate shape error vector of the measurement area on the third operating side. This represents the plate shape error vector of the fourth operating side measurement area.

[0066] The calculation formulas for the correlation compensation amounts of the first transmission side measurement area, the second transmission side measurement area, and the third transmission side measurement area, which are closer to the transmission side, can be expressed as follows:

[0067]

[0068]

[0069] in, This indicates the correlation compensation amount for the measurement area on the first transmission side; This indicates the correlation compensation amount for the measurement area on the second transmission side; This indicates the correlation compensation amount for the measurement area on the third transmission side; This represents the plate shape error vector of the first transmission side measurement area; This represents the plate shape error vector of the measurement area on the second transmission side. This represents the plate shape error vector of the third transmission side measurement area; This represents the plate shape error vector of the measurement area on the fourth transmission side.

[0070] The formula for calculating the correlation compensation of the fourth operating side measurement area, the fourth transmission side measurement area, and the measurement area between the fourth operating side measurement area and the fourth transmission side measurement area can be expressed as:

[0071] in, This indicates the fifth operating side measurement area adjacent to the fourth operating side measurement area.

[0072] Based on the correlation compensation amount of each measurement area, a correlation compensation vector can be constructed. .

[0073] In step S116, the plate shape error vector is multiplied by the error weighting factor and then added to the correlation compensation vector to obtain the plate shape residual error vector for the first control cycle.

[0074] For example, the plate shape residual error vector in the first control cycle The calculation formula can be expressed as:

[0075] in, This represents the error weighting factor.

[0076] In step S120, the cooling amount correction vector for the first control cycle is determined based on the average rolling roll gap power at the first moment and the average cooling amount of the second control cycle.

[0077] Regarding step S120, in some embodiments of this disclosure, it may include, for example... Figure 3 Steps S121 to S126 are shown.

[0078] In step S121, the average cooling amount of the second control cycle is determined based on the partitioned cooling control amount of each measurement area and the width factor of each measurement area in the second control cycle.

[0079] The second control cycle is the cycle preceding the first control cycle, and can be represented as the (k-1)th control cycle.

[0080] As one possible implementation, since each measurement area corresponding to the strip contains two widths, two width factors are set. For example, the width factor of the narrower measurement area can be set to 1.0, and the width factor of the wider measurement area can be set to 2.0.

[0081] For example, the average cooling amount in the second control cycle The calculation formula can be expressed as:

[0082] in, This represents the zone cooling control quantity for the m-th measurement area in the second control cycle. This represents the width factor of the m-th measurement region; m represents the sequence number of the measurement region corresponding to the strip. This indicates the total number of measurement areas corresponding to the strip steel.

[0083] In step S122, the actual rolling force at the first moment is multiplied by the strip speed at the mill exit at the first moment and then divided by the strip width to obtain the rolling power per unit width.

[0084] For example, the formula for calculating the rolling power per unit width can be expressed as: ,in, This represents the actual value of the rolling force at the first moment; This indicates the strip speed at the mill exit at the first moment.

[0085] In step S123, the average rolling power per unit width is calculated within a set length range of the strip to obtain the average rolling roll gap power at the first moment.

[0086] For example, the average rolling roll gap power at the first moment The calculation formula can be expressed as:

[0087] in, This represents the mean calculation operator, used to calculate the average value over a given length. For example, the length range can be set to 10 meters.

[0088] In step S124, the corresponding cooling amount is found based on the average rolling roll gap power, and the target cooling amount for the first control cycle is obtained.

[0089] For example, the formula for calculating the target cooling amount in the first control cycle can be expressed as: ,in This refers to the linear interpolation method. In determining the target cooling amount for the first control cycle using linear interpolation, the cooling amount per unit measurement area width corresponding to different rolling gap powers can be preset based on experience. Then, two adjacent cooling amounts with average rolling gap powers are selected, and the target cooling amount is obtained using linear interpolation.

[0090] In step S125, the difference between the target cooling amount and the average cooling amount is calculated to obtain the cooling amount difference for the first control cycle.

[0091] For example, the formula for calculating the cooling difference in the first control cycle can be expressed as: .

[0092] In step S126, the product of the cooling amount difference and the width factor vector is calculated to obtain the cooling amount correction vector for the first control cycle.

[0093] For example, the cooling amount correction vector in the first control cycle The calculation formula can be expressed as:

[0094] in, This represents the width factor vector, which consists of the width factors of each measurement region corresponding to the strip.

[0095] In step S130, the proportional gain vector and the integral gain vector at the first moment are determined based on the strip speed at the mill exit, the strip width, and the strip thickness at the first moment.

[0096] Regarding step S130, in some embodiments of this disclosure, it may include, for example... Figure 4 Steps S131 to S133 are shown.

[0097] In step S131, based on the strip speed at the mill exit, the strip width, and the strip thickness at the first moment, the speed proportional gain factor, the width proportional gain factor, and the thickness proportional gain factor are determined by the first linear interpolation algorithm, and the speed integral gain factor, the width integral gain factor, and the thickness integral gain factor are determined by the second linear interpolation algorithm.

[0098] For example, the calculation formulas for the speed proportional gain factor, width proportional gain factor, and thickness proportional gain factor can be expressed as follows: , , ,in, This represents the first linear interpolation algorithm; This represents the thickness of the strip. The formulas for calculating the speed integral gain factor, width integral gain factor, and thickness integral gain factor can be expressed as follows: , , ,in, This represents the second linear interpolation algorithm.

[0099] In step S132, the speed proportional gain factor, width proportional gain factor and thickness proportional gain factor are multiplied and then subjected to amplitude limiting to obtain the proportional gain vector at the first moment.

[0100] For example, the scaling gain vector at the first time step The calculation formula can be expressed as:

[0101] in, This represents the limiting operator. For example, the limiting operator can be used to limit the value range of each element in the proportional gain vector and integral gain vector to 0.0 to 5.0.

[0102] In step S133, the velocity integral gain factor, width integral gain factor and thickness integral gain factor are multiplied and then subjected to amplitude limiting to obtain the integral gain vector at the first moment.

[0103] For example, the formula for calculating the integral gain vector at the first moment can be expressed as:

[0104] In step S140, the proportional differential control quantity at the first moment is calculated based on the plate shape residual error vector, the proportional gain vector at the first moment, and the error change at the first moment.

[0105] Regarding step S140, in some embodiments of this disclosure, it may include, for example... Figure 5 Steps S141 to S144 are shown.

[0106] In step S141, the plate shape residual error vector of the first control cycle is multiplied by the proportional gain vector at the first moment to obtain the proportional control vector at the first moment.

[0107] For example, the proportional control vector at the first moment The calculation formula can be expressed as:

[0108] In step S142, the plate shape residual error vector of the first control cycle is multiplied by the error change of the first control cycle to obtain the error trend judgment vector of the first control cycle.

[0109] For example, the error trend judgment vector of the first control cycle The calculation formula can be expressed as:

[0110] in, This represents the change in error during the first control cycle. This represents the plate shape residual error vector for the second control cycle.

[0111] In step S143, the differential gain vector is determined based on whether the values ​​of each element in the error trend judgment vector of the first control cycle are greater than zero. Specifically, the element value in the differential gain vector corresponding to the element with a value greater than zero in the error trend judgment vector is set to a fixed value (for example, 1.5), and the element value in the differential gain vector corresponding to the element with a value less than or equal to zero in the error trend judgment vector is set to 0. This embodiment allows differential control to be applied to correct errors in areas where plate shape errors increase, while differential control is not applied in areas where plate shape errors decrease.

[0112] In step S144, the proportional control vector is multiplied by 1 and the sum of the differential gain vector, and then the product of the proportional control vector and the differential gain vector after processing by the first-order vector smoothing element is subtracted to obtain the proportional differential control quantity at the first moment.

[0113] For example, the proportional-derivative control quantity at the first moment The calculation formula can be expressed as:

[0114] in, Represents the differential gain vector; The first-order smoothing operator represents a vector and is used to perform first-order smoothing on each element of the vector. The formula for calculating the first-order smoothing operator used in PLCs can be expressed as:

[0115] in, This is the output value of the first-order smoothing operator at the first time step; This represents the output value of the first-order smoothing operator at the second time step, which can be a time step before the first time step. Indicates the smoothing time parameter; Indicates the sampling time of the PLC controller; The input value of the first-order smoothing operator at the first time step can be, in this disclosure, the input value of the first-order smoothing operator. .

[0116] As one possible implementation, the smoothing time parameter can be calculated using the following formula:

[0117] in, The differential control length, for example, can be set as follows: ; Indicates the diameter of the plate roller.

[0118] In step S150, the integral control quantity at the first moment is calculated based on the plate shape residual error vector and the integral gain vector at the first moment.

[0119] Regarding step S150, in some embodiments of this disclosure, it may include, for example... Figure 6 Steps S151 to S152 are shown.

[0120] In step S151, the value of each element in the vector is determined to be less than zero based on the error trend, and the integral gain vector at the first moment is corrected to obtain the target integral gain vector.

[0121] As one possible implementation, the integral gain vector at the first moment is corrected based on whether the values ​​of each element in the error trend judgment vector are less than zero, to obtain the target integral gain vector. This includes setting the values ​​of the elements corresponding to the elements with values ​​less than zero in the error trend judgment vector to 0 (if less than zero, it indicates that the residual error of the plate shape in the corresponding measurement area is decreasing), and the values ​​of the elements at the remaining positions are the same as the values ​​of the corresponding elements in the integral gain vector. This implementation can achieve integral control only in the measurement area where the residual error of the plate shape is increasing, and not in the measurement area where the residual error of the plate shape is decreasing.

[0122] In step S152, the integral control quantity at the first moment is calculated based on the plate shape residual error vector and the target integral gain vector.

[0123] As one possible implementation, the integral control quantity at the first moment is calculated based on the plate shape residual error vector and the target integral gain vector, including: multiplying the quotient of the PLC sampling time by the integral time parameter with the plate shape residual error vector and the target integral gain vector to obtain a third product; performing discrete integration on the third product to obtain the integral control quantity at the first moment, wherein the discrete integration operation is used to accumulate the input value at each sampling moment in the PLC.

[0124] For example, the integral control quantity at the first moment The calculation formula can be expressed as:

[0125] Where INT represents the integrator; Represents the target integral gain vector; This represents the integration time parameter of the integrator, for example, .

[0126] In step S160, the proportional-derivative control quantity at the first moment, the integral control quantity at the first moment, and the cooling quantity correction vector of the first control cycle are added together and then subjected to amplitude limiting to obtain the total control quantity of the partitioned cooling in the first control cycle.

[0127] For example, the formula for calculating the total control quantity of zoned cooling in the first control cycle can be expressed as:

[0128] in, This refers to the limiting operator, used to limit the calculated total cooling control quantity for each zone to between the minimum and maximum cooling quantities corresponding to each measurement zone. In step S170, zoned cooling control is performed on each measurement area based on the total zoned cooling control quantity.

[0129] As one possible implementation method, the nozzle flow rate of each measurement zone can be obtained based on the total control amount of the zoned cooling of the strip steel corresponding to each measurement zone. Then, the nozzle flow rate can be controlled by controlling the valve opening of the nozzle flow valve.

[0130] This disclosure uses a correlation factor to compensate for the influence of the coolant on adjacent areas and considers the impact of heat generated during rolling on the cooling effect, thereby significantly improving the control accuracy of zoned cooling. By comparing the plate shape error over the two most recent control cycles, this disclosure enables differential and integral control in areas where the error increases, while disabling it in areas where the error decreases. This ensures a continuous reduction in plate shape error. Furthermore, the use of adaptive gain in the proportional and integral calculations improves adaptability under various operating conditions, effectively enhancing the control accuracy and quality of zoned cooling.

[0131] According to further embodiments of this disclosure, an electronic device is also provided. Figure 7 This diagram illustrates a schematic block diagram of an electronic device employing a processor-based hardware implementation according to an embodiment of the present disclosure. The hardware structure of the electronic device of the present disclosure can be implemented using a bus architecture. The bus architecture can include any number of interconnect buses and bridges, depending on the specific application and overall design constraints of the hardware. Bus 1100 connects various circuits including one or more processors 1200, memory 1300, and / or hardware modules. Bus 1100 can also connect various other circuits 1400 such as peripheral devices, voltage regulators, power management circuits, external antennas, etc. Bus 1100 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one connecting line is used in this figure, but this does not indicate that there is only one bus or one type of bus.

[0132] This disclosure also provides a readable storage medium storing a computer program that, when executed by a processor, is used to implement the methods described above. A "readable storage medium" can be any means capable of containing, storing, communicating, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples of a readable storage medium include: an electrical connection with one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable read-only memory (CDROM), etc.

[0133] This disclosure also provides a computer program product, the methods of which can be implemented wholly or partially through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented wholly or partially as a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed, all or part of the processes or functions of this disclosure are performed.

[0134] Computer programs or instructions can be stored in a readable storage medium or transferred from one readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The readable storage medium can be any available medium capable of access, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video optical disc; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or it can include both volatile and non-volatile types of storage media.

[0135] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] 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.

[0138] 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.

[0139] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., refer to specific features, structures, or characteristics described in connection with that embodiment / mode or example, which are included in at least one embodiment / mode or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0140] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A method for zoned cooling control of a cold rolling mill, characterized in that, include: Based on the strip shape setting vector corresponding to the strip, the actual strip shape value vector of the first control cycle, the strip shape compensation amount of the first control cycle, and the correlation compensation amount of each measurement area, the strip shape residual error vector corresponding to the strip in the first control cycle is determined. The strip shape residual error vector includes the strip shape residual error amount of each measurement area corresponding to the strip. Based on the average rolling roll gap power at the first moment and the average cooling amount in the second control cycle, determine the cooling amount correction vector for the first control cycle; Based on the strip speed, strip width, and strip thickness at the first moment of the rolling mill exit, determine the proportional gain vector and the integral gain vector at the first moment of the rolling mill exit. The proportional-derivative control quantity of the first control cycle is calculated based on the plate shape residual error vector, the proportional gain vector at the first moment, and the error change in the first control cycle. The integral control quantity at the first moment is calculated based on the plate shape residual error vector and the integral gain vector at the first moment. The proportional-derivative control quantity at the first moment, the integral control quantity at the first moment, and the cooling quantity correction vector at the first control cycle are added together and then subjected to amplitude limiting to obtain the total cooling control quantity of the first control cycle. as well as Based on the total control value of the partitioned cooling, partitioned cooling control is performed on each measurement area.

2. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Based on the strip shape setting vector, the actual strip shape value vector in the first control cycle, the strip shape compensation amount in the first control cycle, and the correlation compensation amount of each measurement area, the residual strip shape error vector corresponding to the strip in the first control cycle is determined, including: Determine the measurement area corresponding to the strip steel; The tension measurement value measured by the plate roll is converted into the actual plate shape value vector of the first control cycle; Subtract the plate shape compensation amount of the first control cycle from the plate shape setting vector to obtain the remaining plate shape setting vector of the first control cycle; The difference between the actual plate shape value vector and the remaining plate shape setting vector is calculated to obtain the plate shape error vector for the first control cycle; Based on the strip shape error vector, calculate the correlation compensation amount for each measurement area of ​​the strip, and form a correlation compensation vector; and The plate shape error vector is multiplied by the error weighting factor and then added to the correlation compensation vector to obtain the plate shape residual error vector for the first control cycle.

3. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Before subtracting the plate shape compensation amount for the first control cycle from the plate shape setting vector, the method further includes: determining the plate shape compensation amount for the first control cycle, including: A row vector is constructed based on the tilting roll adjustment amount, the work roll bending roll adjustment amount, and the intermediate roll bending roll adjustment amount of the first control cycle; a column vector is constructed based on the tilting roll efficiency coefficient vector, the work roll bending roll efficiency coefficient vector, and the intermediate roll bending roll efficiency coefficient vector; and Perform matrix multiplication on the row vector and the column vector to obtain the plate shape compensation amount for the first control cycle.

4. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Based on the strip shape error vector, calculate the correlation compensation amount for each measurement area of ​​the strip, including: The measurement areas corresponding to the strip steel are sequentially set from the operating side to the transmission side as the first operating side measurement area, the second operating side measurement area, the third operating side measurement area, the fourth operating side measurement area, ..., the fourth transmission side measurement area, the third transmission side measurement area, the second transmission side measurement area, and the first transmission side measurement area; The correlation compensation amount of the first operating side measurement area closest to the operating side is set as the product of the plate shape error vector of the second operating side measurement area adjacent to the first operating side measurement area and the first edge correlation factor. The correlation compensation amount of the second operation side measurement area is set as the product of the plate shape error vector of the first operation side measurement area and the second edge correlation factor, and the sum of the products of the plate shape error vector of the third operation side measurement area adjacent to the second operation side measurement area and the middle correlation factor. The correlation compensation amount of the third operating side measurement area is set as the product of the plate shape error vector of the second operating side measurement area and the third edge correlation factor, and the sum of the products of the plate shape error vector of the fourth operating side measurement area adjacent to the third operating side measurement area and the intermediate correlation factor. The correlation compensation amount of the first transmission side measurement area near the transmission side is set as the product of the plate shape error vector of the second transmission side measurement area adjacent to the first transmission side measurement area and the first edge correlation factor. The correlation compensation amount of the second transmission side measurement area is set as the product of the plate shape error vector of the first transmission side measurement area and the second edge correlation factor, and the sum of the products of the plate shape error vector of the third transmission side measurement area adjacent to the second transmission side measurement area and the intermediate correlation factor. The correlation compensation amount of the third transmission side measurement area is set as the product of the plate shape error vector of the second transmission side measurement area and the correlation factor of the third edge, and the sum of the products of the plate shape error vector of the fourth transmission side measurement area adjacent to the third transmission side measurement area and the intermediate correlation factor. The correlation compensation amount of the fourth operating side measurement area, the fourth transmission side measurement area, and the measurement area between the fourth operating side measurement area and the fourth transmission side measurement area is set as the sum of the product of the plate shape error vector of the measurement areas on both sides and the intermediate correlation factor.

5. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Based on the average rolling gap power at the first moment and the average cooling amount in the second control cycle, a cooling amount correction vector for the first control cycle is determined, including: The average cooling amount for the second control cycle is determined based on the zoned cooling control amount of each measurement area and the width factor of each measurement area in the second control cycle. Multiply the actual rolling force at the first moment by the strip speed at the mill exit at the first moment, and then divide by the strip width to obtain the rolling power per unit width. The average rolling power per unit width is calculated within a set length range of the strip to obtain the average rolling roll gap power at the first moment; Based on the average rolling gap power, the corresponding cooling amount is found, and the target cooling amount for the first control cycle is obtained; Calculate the difference between the target cooling amount and the average cooling amount to obtain the cooling amount difference for the first control cycle; and The product of the cooling amount difference and the width factor vector is calculated to obtain the cooling amount correction vector for the first control cycle. The width factor vector is composed of the width factors of each measurement area.

6. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Based on the strip speed, strip width, and strip thickness at the first moment of the rolling mill exit, determine the proportional gain vector and integral gain vector at the first moment, including: Based on the strip speed, strip width, and strip thickness at the first moment of the mill exit, the speed proportional gain factor, width proportional gain factor, and thickness proportional gain factor are determined by the first linear interpolation algorithm, and the speed integral gain factor, width integral gain factor, and thickness integral gain factor are determined by the second linear interpolation algorithm. Multiplying the velocity proportional gain factor, the width proportional gain factor, and the thickness proportional gain factor, and then performing amplitude limiting, yields the proportional gain vector at the first moment; and The integral gain vector at the first moment is obtained by multiplying the velocity integral gain factor, the width integral gain factor, and the thickness integral gain factor together and then performing amplitude limiting.

7. The cold rolling mill zone cooling control method as described in claim 1, characterized in that, Based on the remaining error vector of the plate shape, the proportional gain vector at the first moment, and the error change in the first control cycle, the proportional-derivative control quantity at the first moment is calculated, including: The plate shape residual error vector of the first control cycle is multiplied by the proportional gain vector of the first time step to obtain the proportional control vector of the first time step. Multiply the plate shape residual error vector of the first control cycle by the error change of the first control cycle to obtain the error trend judgment vector of the first control cycle. Based on whether the values ​​of each element in the error trend judgment vector during the first control cycle are greater than zero, the differential gain vector is determined. Specifically, elements in the error trend judgment vector with values ​​greater than zero correspond to fixed values ​​in the differential gain vector, while elements in the error trend judgment vector with values ​​less than or equal to zero correspond to 0 values ​​in the differential gain vector. Multiply the proportional control vector by 1 and the sum of the differential gain vector, then subtract the product of the proportional control vector and the differential gain vector after processing by the first-order vector smoothing operator, to obtain the proportional differential control quantity at the first moment.

8. The cold rolling mill zone cooling control method as described in claim 7, characterized in that, Based on the residual error vector of the plate shape and the integral gain vector at the first time step, the integral control quantity at the first time step is calculated, including: Based on the error trend, determine whether the value of each element in the vector is less than zero, and correct the integral gain vector at the first moment to obtain the target integral gain vector; and The integral control quantity at the first moment is calculated based on the plate shape residual error vector and the target integral gain vector.

9. An electronic device, characterized in that, include: The memory stores execution instructions; as well as A processor that executes the execution instructions stored in the memory, causing the processor to perform the cold rolling mill zone cooling control method according to any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the cold rolling mill zone cooling control method according to any one of claims 1 to 8.

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