A method for setting migration of pass reversing of a twenty-high reversible cold rolling mill

Abstract

The application discloses a twenty-reversing cold rolling mill pass direction setting migration method, which comprises the following steps: S1, generating a pass state vector set of a current pass according to a measured pass state vector of a previous pass and a preset pass state vector of the current pass X i ; S2, generating a role mapping matrix according to a rolling device and a rolling direction; S3, generating an actuator authority table of the current pass according to the pass state vector set of the current pass X i ; S4, correcting and phase-gating a to-be-corrected vector of the current pass and generating a setting migration vector set; and S5, outputting the setting migration vector set, an actuator authority state and an abnormal degradation reason; the application establishes the role mapping matrix, avoids that a previous pass setting is directly inherited by a current pass according to a physical side, and unifies thickness, reduction and other settings into setting migration variables, so that rolling precision, rolling stability and abnormal probability are improved.

Description

Technical Field

[0001] This invention relates to the field of rolling technology, specifically to a method for reversing the direction setting of a 20-roll reversible cold rolling mill. Background Technology

[0002] Twenty-roll reversible cold rolling mills are commonly used for rolling titanium strip, stainless steel strip, and high-precision alloy strip. Unlike unidirectional continuous rolling, reversible cold rolling mills change the rolling direction between adjacent passes. The positions of the equipment on the physical left and physical right sides remain unchanged, but the logical roles of the inlet side, outlet side, uncoiling side, coiling side, inlet tension, and outlet tension change with the reversal of direction.

[0003] Existing reversible rolling mills typically employ closed-loop control schemes for thickness control, tension control, and shape control, addressing thickness deviation, tension fluctuation, or shape deviation respectively. While these schemes can handle feedback compensation issues during stable rolling processes, they can lead to ambiguity regarding the attribution of settings on the current pass's entry and exit sides if the settings are directly inherited from the previous pass based on the physical left or right side during pass reversal. Furthermore, existing reversible rolling mills also address speed changes, stop stability, coil diameter changes, or coiling torque compensation in their stop, speed change, and tension feedforward schemes. However, these schemes still present the challenge of converting the previous pass's settings to the current pass's logical coordinates after the physical equipment role reverses between adjacent passes.

[0004] Existing reversible rolling mills typically reduce sudden changes in settings during switching by using general mode switching schemes such as tracking, rate of change limitation, or frozen output. However, if such schemes are decoupled from the reversible rolling direction and equipment role mapping, they can only handle general control mode switching and cannot directly solve the problem of synchronous remapping of the inlet and outlet sides when the 20-roll reversible cold rolling mill changes direction.

[0005] Therefore, a setting migration method is needed for the reversing process of a 20-roll reversible cold rolling mill. Summary of the Invention

[0006] Therefore, the present invention provides a method for reversing the setting of a 20-roll reversible cold rolling mill, which can correct errors when they occur in actual rolling, improve the thickness accuracy of the rolled sheet and reduce the occurrence of abnormalities.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for reversing setting migration of a 20-roll reversible cold rolling mill, comprising the following steps: S1. Obtain the preset state vector for each pass. Perform the first pass rolling based on the preset state vector of the first pass. For each subsequent pass, generate the pass state vector set for the current pass based on the measured state vector of the previous pass and the preset state vector of the current pass. X i ; S2. Establish the physical coordinates of the equipment based on the location of each piece of equipment used in rolling, and generate a role mapping matrix of the logical entry-exit coordinates for each pass according to the rolling direction. S3. Based on the current track status vector set. X i Generate the executor permission table for the current stage; S4. For the second pass and each subsequent pass, when the previous pass completes rolling and enters the current pass for reversal, the measured pass state vector of the previous pass is mapped to the role mapping matrix of the current pass to obtain the remapping vector. The preset track state vector of the current track is divided into a vector to be corrected and a first basic vector. Based on the remapping vector, the vector to be corrected is corrected to obtain a pre-corrected vector. The pre-corrected vector is phase-gated according to the executor permission table to obtain the final corrected vector and the second basic vector. Generate a set of migration vectors based on the remapping vector, the first basic vector, the final correction vector, and the second basic vector. S5. The set migration vector set, the actuator permission status corresponding to each vector in the set migration vector set, and the abnormal degradation reason are combined into a set migration result data packet, which is output to the PLC control system, transmission control system, human-machine interface, upper monitoring system, quality traceability database and production report to complete the track reversal set migration.

[0008] In one implementation of the first aspect, in S1, the track state vector set X i The expression is: X i =﹛ i, dir i ，P i ，h in,i ，h out,i ，r i ，T in,i ，T out,i ，t in,i ，tout,i ，V i ，v i ，F i ，x U,i ，x L,i , ω L,i , ω R,i , M L,i ，M R,i ，R L,i ，R R,i ，C i ，A i ﹜ in, i Indicates the track number, when i A value of 0 indicates the measured state of the current trace. dir i Indicates the rolling direction. P i Indicates the phase of the track. h in,i and h out,i These represent the inlet thickness and the outlet thickness, respectively. r i Indicates the reduction rate. T in,i and T out,i These represent the inlet tension and the outlet tension, respectively. t in,i and t out,i These represent the unit tension at the inlet and the unit tension at the outlet, respectively. V i Indicates rolling speed. v i Indicates the strip line speed. F i Indicates rolling force. x U,i and x L,i These represent the lateral displacement of the upper intermediate roller and the lateral displacement of the lower intermediate roller, respectively. ω L,i and ω R,i These represent the roll-up angular velocities on the logic input side and the logic output side, respectively. M L,i andM R,i These represent the winding torque on the logic input side and the winding torque on the logic output side, respectively. R L,i and R R,i These represent the volume diameter on the logic inlet side and the volume diameter on the logic outlet side, respectively. C i Indicates the convexity of the plate shape. A i This represents the set of operating states corresponding to each type of actuator; where, h in,i ，h out,i ，x U,i as well as x L,i The units are all in mm. T in,i ，T out,i The units are all kN. t in,i and t out,i The units are all MPa. ω L,i and ω R,i The units are all rad / min. M L,i and M R,i The units are all N·m. R L,i and R R,i The units are all in mm. V i and v i The units are all m / min. F i The unit is t; The channel phase P i This includes: threading, tensioning, speed increase, speed stabilization, speed decrease, reversing, and standby; the various actuators include: AGC pressing actuator, winding tension actuator, speed setting actuator, lateral adjustment actuator, crown adjustment actuator, and plate roll actuator; and the set of operating states corresponding to each type of actuator. A i This includes: the PLC operating mode, limit status, interlock status, fault status, transmission ready status, and manual / automatic status corresponding to various actuators.

[0009] In one implementation of the first aspect, in S2, establishing the physical coordinates of the equipment based on the positions of the various equipment used in rolling includes: using the 20-roll reversible cold rolling mill as a dividing line, dividing the positions of the coiler, thickness gauge, tension detection device, transmission device, and actuator located on its left and right sides into a physical left side and a physical right side, which serve as the physical coordinates of the equipment. The step of generating the corresponding logical entry-exit coordinate role mapping matrix according to the rolling direction includes: generating the role mapping matrix M(dir) according to the current rolling direction dir, and satisfying the following: q = M(dir)p; Where p=[L m R m ] T L m and R m These represent the winding machine, thickness gauge, tension detection device, transmission device, and actuator on the physical left and physical right sides, respectively. q = logical entry - exit coordinates = [logical entry side, logical exit side] T When dir is rolled from left to right, M(dir) is [[1,0],[0,1]]; when dir is rolled from right to left, M(dir) is [[0,1],[1,0]].

[0010] In one implementation of the first aspect, in S3, generating the actuator permission table includes: generating the actuator permission table based on the measured pass phase, rolling speed, rolling force, tension, PLC operating mode, limit status, interlock status, fault status, and transmission ready status of the previous pass and the preset pass status vector of the current pass. The actuator permission table includes an output status corresponding to each type of actuator under the current pass phase, and the output status includes allow, speed limit, freeze, and prohibit.

[0011] In one implementation of the first aspect, in step S4, the step of correcting the vector to be corrected based on the remapping vector includes: The reduction rate is calculated using a thickness-related proportional conversion: Reduction rate = (Measured inlet thickness - Preset outlet thickness) / Measured inlet thickness × 100%; Tension normalization transfer is performed on inlet tension and outlet tension: Inlet tension = measured outlet unit tension of the previous pass × strip width × measured inlet thickness / 1000, Outlet tension = measured inlet unit tension of the previous pass × strip width × preset outlet thickness / 1000; The unit tension at the inlet and the unit tension at the outlet are converted as follows: Unit tension at the inlet = normalized inlet tension × 1000 / (strip width × measured inlet thickness); Unit tension at the outlet = normalized outlet tension × 1000 / (strip width × preset outlet thickness). Lateral movement constraints are applied to the lateral movement of the upper and lower intermediate rollers: the maximum single lateral movement step size of the upper and lower intermediate rollers between adjacent passes is limited to the preset maximum lateral movement step size range; The winding angular velocity and winding torque on the logic entry side and logic exit side are converted as follows: winding angular velocity = 2 × strip linear velocity / roll diameter; winding torque = winding tension × roll diameter / 2, where the roll diameter corresponds to the selected roll diameter on the logic entry side or logic exit side, and the winding tension corresponds to the normalized and migrated entry tension or exit tension. Convert the convexity of the plate shape: calculate the convexity difference = the measured convexity of the previous pass - the preset convexity of the current pass, input the convexity difference into the plate shape control system, and use the plate shape control efficiency coefficient model in the plate shape control system to calculate the convexity adjustment amount of the convexity adjustment actuator through a multivariate optimization algorithm.

[0012] In one implementation of the first aspect, in step S4, the step of performing phase-gating processing on the pre-correction vector according to the executor permission table to obtain the final correction vector and the second basic vector includes: In the threading and tensioning phases, the phase gating result of the corresponding actuator is freeze, speed limit, or prohibition; In the acceleration phase, the phase gating result of the corresponding actuator is either speed limit or allow; During the steady-speed phase, the phase gating result of the corresponding actuator is always allowed; during the deceleration phase, the phase gating result of the corresponding actuator is always speed limited; during the commutation and standby phases, the phase gating result of the corresponding actuator is always prohibited. When any of the following safety prohibition conditions are detected: PLC manual mode, limit trigger, interlock not met, fault state, rolling speed not in the release range, or transmission not ready, the output state of the corresponding actuator is prohibited. The pre-corrected vector that is allowed after phase gating and the pre-corrected vector after speed limit execution are used as the final correction vector. The speed limit is executed according to the rate of change. The pre-corrected vector that is frozen after phase gating is replaced with the uncorrected vector to be corrected. The pre-corrected vector that is prohibited after phase gating is replaced with the existing PLC control value. Then, the uncorrected vector to be corrected and the existing PLC control value are used as the second basic vector.

[0013] In a second aspect, the present invention provides a system for implementing the method provided in the first aspect, comprising a field automation system and a set migration control system; The field automation system includes a PLC control system, remote I / O, a drive control system, and a human-machine interface or upper-level monitoring system. The PLC control system and remote I / O are used to collect data on thickness measurement, tension, limit, interlock, fault, and drive readiness status. The drive control system is used to provide speed, tension, winding, and drive status. The human-machine interface or upper-level monitoring system is used to provide pass planning and process formula. The set migration control system is connected to the field automation system via a PLC data interface, a PROFINET communication interface, or a supervisory control system interface. The set migration control system includes: The data access unit is used to read the measured state vector of the previous pass, the preset state vector of the current pass, the set of operating states of various actuators, and the safety interlock status from the field automation system. The track status vector generation unit, connected to the data access unit, is used to generate a track status vector set based on the recorded measured status vector of the previous track and the preset status vector of the current track. X i ; The role mapping matrix generation unit, connected to the pass state vector generation unit, is used to generate a role mapping matrix M(dir) from physical coordinates to logical inlet-outlet coordinates according to the rolling direction. The actuator permission table generation unit is connected to the data access unit and the track status vector generation unit, and is used to generate an actuator permission table containing four types of states: allowed, speed limit, frozen and prohibited, according to the actuator and track phase. The vector correction unit is connected to the role mapping matrix generation unit and the executor permission table generation unit. It maps the measured state vector of the previous stage and performs correction processing by combining it with the preset state vector of the current stage. A phase gating unit, connected to the vector correction unit and the actuator permission table generation unit, is used to determine the actuator permission status according to the current pass phase. The output scheduling unit and the traceability recording unit connected to the output scheduling unit are used to output the final correction vector to the PLC control system, the transmission control system, the human-machine interface or the upper-level monitoring system. The traceability recording unit is used to generate a set migration result data packet containing the set migration vector, the actuator permission status and the reason for abnormal degradation.

[0014] Thirdly, the present invention provides an electronic device including a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the method provided in the first aspect.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in the first aspect.

[0016] The beneficial effects of this invention are as follows: First, this invention establishes a role mapping matrix based on the physical coordinates of each piece of equipment in the rolling process, reconstructing the logical entry-exit coordinates of each pass, thus avoiding the direct inheritance of the previous pass's settings by the next pass based on the physical side, which would affect the rolling results. Second, this invention unifies the settings such as thickness, reduction rate, tension, speed, rolling force, and lateral displacement into the setting migration variables, improving the continuity of setting migration for the next pass, thereby improving the accuracy of the rolling thickness. Third, this invention limits the release boundary of the final correction vector through the actuator permission table and phase gating, reducing the time required for instantaneous setting jumps, actuator saturation, and recovery to steady state during reversal. Fourth, the setting migration method designed in this invention does not take over existing emergency stops, hydraulic protection, transmission protection, and safety interlocks, and does not affect the operation of existing automation systems. Therefore, this invention improves the rolling thickness accuracy and rolling stability of the 20-roll reversible cold rolling mill and reduces the probability of anomalies. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the role mapping matrix of the present invention; Figure 2 This is a schematic diagram of the executor permission table of the present invention. Detailed Implementation

[0018] In the specification and claims of this invention, the terms "first" and "second," etc., are used to distinguish different objects, rather than to describe a specific order of objects.

[0019] In the embodiments of this application, "and / or" indicates a relationship between objects. For example, A and / or B can represent the following three situations: A exists alone, B exists alone, and A and B exist simultaneously.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] Existing reversible rolling mills typically employ closed-loop control schemes for thickness control, tension control, and shape control, addressing thickness deviation, tension fluctuation, or shape deviation respectively. While these schemes can handle feedback compensation issues during stable rolling processes, they can lead to ambiguity regarding the attribution of settings on the current pass's entry and exit sides if the settings are directly inherited from the previous pass based on the physical left or right side during pass reversal. Furthermore, existing reversible rolling mills also address speed changes, stop stability, coil diameter changes, or coiling torque compensation in their stop, speed change, and tension feedforward schemes. However, these schemes still present the challenge of converting the previous pass's settings to the current pass's logical coordinates after the physical equipment role reverses between adjacent passes.

[0022] Therefore, this application provides a method for migrating the reversing settings of a 20-roll reversible cold rolling mill, which can adjust the rolling error according to the logical role of each rolling pass, correct relevant influencing parameters, and perform phase gating processing to improve the accuracy of the rolled thickness. Specifically: Example 1: This example describes a method for reversing the direction setting of a 20-roll reversible cold rolling mill, including the following steps: This embodiment uses a TA1 titanium strip with a strip width of 600mm and a strip length of 10m, and the initial roll diameter of the winding machines located on both sides is 610mm as an example: S1. Obtain the preset state vector for each pass. Perform the first pass rolling based on the preset state vector of the first pass. For each subsequent pass, generate the pass state vector set for the current pass based on the measured state vector of the previous pass and the preset state vector of the current pass. X i Track state vector set X i It contains the measured state vector of the previous trace and the preset state vector of the current trace. In other words, it's a set of trace state vectors. X i In this context, numerical values ​​are directly used as vector components; rolling direction, pass phase, PLC operating mode, limit status, interlock status, fault status, and transmission ready status are represented by enumerated values, Boolean flags, or status codes. Specifically, X i The expression is: X i =﹛ i, dir i ，P i ，h in,i ，h out,i ，r i，T in,i ，T out,i ，t in,i ，t out,i ，V i ，v i ，F i ，x U,i ，x L,i , ω L,i , ω R,i , M L,i ，M R,i ，R L,i ，R R,i ，C i ，A i ﹜ in, i Indicates the track number. dir i Indicates the rolling direction. P i Indicates the phase of the track. h in,i and h out,i These represent the inlet thickness and the outlet thickness, respectively. r i Indicates the reduction rate. T in,i and T out,i These represent the inlet tension and the outlet tension, respectively. t in,i and t out,i These represent the unit tension at the inlet and the unit tension at the outlet, respectively. V i Indicates rolling speed. v i Indicates the strip line speed. F i Indicates rolling force. x U,i and x L,i These represent the lateral displacement of the upper intermediate roller and the lateral displacement of the lower intermediate roller, respectively. ω L,i and ωR,i These represent the roll-up angular velocities on the logic input side and the logic output side, respectively. M L,i and M R,i These represent the winding torque on the logic input side and the winding torque on the logic output side, respectively. R L,i and R R,i These represent the volume diameter on the logic inlet side and the volume diameter on the logic outlet side, respectively. C i Indicates the convexity of the plate shape. A i This represents the set of operating states corresponding to each type of actuator; where, h in,i ，h out,i ，x U,i as well as x L,i The units are all in mm. T in,i ，T out,i The units are all kN. t in,i and t out,i The units are all MPa. ω L,i and ω R,i The units are all rad / min. M L,i and M R,i The units are all N·m. R L,i and R R,i The units are all in mm. V i and v i The units are all m / min. F i The unit is t; For example: The measured state vector of the first pass includes: inlet thickness h in,1 0.998 mm, export thickness h out,1 The reduction rate is 0.897 mm. r 1 The average rolling force was 10.13%. F 1 85.8 t, inlet tension Tin,1 66.0 kN, outlet tension T out,1 97.0 kN, inlet unit tension t in,1 Approximately 110.22 MPa, outlet unit tension t out,1 Approximately 180.23 MPa, lateral displacement of the upper intermediate roller x U,1 -113.527 mm, lower intermediate roller lateral displacement x L,1 The rolling speed is -73.913 mm. V 1 The strip linear speed is 120.0 m / min. v 1 119.5 m / min; angular velocity at the logic input side ω L,1 The angular velocity at the logic exit side is 385.3 rad / min. ω R,1 The logic input side roll diameter is 385.9 rad / min. R L,1 The roll diameter is 620.33 mm on the logic exit side. R R,1 The torque at the logic input side is 619.29 mm. M L,1 Approximately 20470.9 N·m, logic output side torque M R,1 Approximately 30035.6 N·m; Plate crown C 1 This includes a set of actuator states for 0.022mm and various other actuator types. A 1 ; The preset state vector for the second pass includes: inlet thickness. h 2n,2 0.895 mm, export thickness h out,2 0.807 mm, reduction rate r 2 9.83%, rolling force F 2 79.2 t, inlet tension T in,2 Force 110.4 kN, outlet tension T out,2 105.8 kN, inlet unit tension t in,2 Approximately 205.50 MPa, outlet unit tensiont out,2 Approximately 218.50 MPa, lateral displacement of the upper intermediate roller x U,2 -102.841 mm, lower intermediate roller lateral displacement x L,2 -79.528 mm; rolling speed V 2 The strip linear speed is 150.0 m / min. v 2 149.5 m / min; Logic entry side roll diameter R L,2 It is 619.27 mm, corresponding to an angular velocity ω L,2 The speed is 484.4 r / min, and the roll diameter on the logic exit side is... R R,2 It is 618.36 mm, corresponding to an angular velocity ω R,2 485.2 r / min; Logic input side torque M L,2 Approximately 34246.7 N·m, logic output side torque M R,2 Approximately 32711.2 N·m, plate convexity C 2 For 0.020 mm and various actuator state sets A 2 ; The actuators include: AGC pressing actuator, winding tension actuator, speed setting actuator, lateral adjustment actuator, crown adjustment actuator, and plate roll actuator; and the set of operating states corresponding to each actuator. A i This includes: the PLC operating mode, limit status, interlock status, fault status, transmission ready status, and manual / automatic status corresponding to various actuators; Secondary phase P i The process includes: threading, tension building, speed increase, speed stabilization, speed decrease, reversal, and standby. The phase criteria are: reversal occurs when |V0|≤0.5 m / min and a direction command is switched; standby occurs when |V0|≤0.5 m / min and no direction command is switched; threading occurs when the strip head has passed through the mill and is wound on the coiler but has not yet established tension; tension building occurs when F≥20 t; and V0 / dt>0 and V0 has not reached V0 / dt. i 95% of the time is acceleration, |V0-V i |A steady speed is defined as ≤5% for 3 seconds, where dV0 / dt < 0 and V is not reached. i95% of the time is for deceleration; where V0 is the measured rolling speed of the current pass; S2, such as Figure 1 As shown, the positions of the coiler, thickness gauge, tension detection device, transmission device and actuator located on its left and right sides are divided into physical left and physical right sides, with the 20-roll reversible cold rolling mill as the dividing line, which serve as the physical coordinates of the equipment. Based on the current rolling direction, the role mapping matrix M(dir) is generated according to the rolling direction dir, and satisfies: q = M(dir)p; Where p=[L m R m ] T L m and R m These represent the winding machine, thickness gauge, tension detection device, transmission device, and actuator on the physical left and physical right sides, respectively. q = logical entry - exit coordinates = [logical entry side, logical exit side] T When dir is rolled from left to right, M(dir) is [[1,0],[0,1]]; when dir is rolled from right to left, M(dir) is [[0,1],[1,0]]; S3. Based on the current track status vector set. X i The measured pass phase, rolling speed, rolling force, tension, PLC operating mode, limit status, interlock status, fault status, and transmission ready status of the first pass, along with the preset pass status vector of the second pass, are used to generate a data structure as follows: Figure 2 The actuator permission table shown includes an output state corresponding to each type of actuator in the current pass phase. The output states include allowed, speed limit, frozen, and prohibited. S4. For the second pass and each subsequent pass, when the previous pass completes rolling and enters the current pass reversal, the measured pass state vector of the previous pass is mapped to the role mapping matrix of the current pass to obtain the remapped vector. It can be understood that when the same pass enters the standby, threading, tensioning, speed-up and speed-stabilization phases, the confirmed role mapping matrix remains unchanged, and the corresponding vector is released step by step only according to the actuator permission table and the phase gating result. The preset track state vector of the current track is divided into a vector to be corrected and a first basic vector. Based on the remapping vector, the vector to be corrected is processed to obtain a pre-corrected vector, including: Thickness-related proportional conversion of the reduction ratio: The reduction rate = (0.897 - 0.807) / 0.897 × 100% = 10.03%; Tension normalization transfer is performed on the inlet and outlet tensions: Inlet tension = 180.23 × 600 × 0.897 / 1000 ≈ 97 kN; Outlet tension = 110.22 × 600 × 0.807 / 1000 ≈ 53.37 kN; Convert the unit tension at the inlet to the unit tension at the outlet: Inlet unit tension = 97.0 × 1000 / (600 × 0.897) ≈ 180.23 MPa; The unit tension at the outlet is approximately 110.22 MPa (53.37 × 1000 / (600 × 0.807)). Lateral movement constraints are applied to the lateral movement of the upper and lower intermediate rollers: the maximum single lateral movement step of the upper and lower intermediate rollers between adjacent passes is limited to a preset maximum lateral movement step range of 5mm. The winding angular velocity and winding torque are converted between the logic input side and the logic output side: The angular velocity of the logic entry side winding is approximately 482.8 rad / min. The winding torque on the logic input side is approximately 30035.56 N·m, calculated as 97 × 619.29 / 2. The winding angular velocity on the logic exit side = 2 × 149.5 × 1000 / 618.36 ≈ 483.5 rad / min; The winding torque on the logic exit side is approximately 53.37 × 618.36 / 2 ≈ 16500.94 N·m. When the strip linear speed is in m / min and the roll diameter is in mm, the roll diameter needs to be converted to m, therefore it needs to be multiplied by 1000. Convert the convexity of the plate: Calculate the convexity difference Δ C =0.022-0.020=0.002mm, Δ C =0.002mm input to the plate shape control system. Using the plate shape adjustment efficiency coefficient model within the plate shape control system, the convexity adjustment amount of the convexity adjustment actuator is calculated through a multivariate optimization algorithm. Specifically: Let the plate shape adjustment efficiency coefficient matrix be G, the adjustment amount of the convexity adjustment actuator be Δu, and λ be the weighting coefficient. Then, we can solve for min||GΔu-ΔC|| 2 +λ||Δu|| 2 And make Δu satisfy the actuator limit, rate of change limit and actuator authority table constraints; The strip shape control system is an existing system in the rolling system and will not be described in detail. The strip shape adjustment efficiency coefficient model is used to characterize the influence of strip shape adjustment mechanisms such as bending rolls, lateral movement, and strip shape rolls on the strip crown or strip shape distribution. This model can be obtained through finite element simulation, rolling mill experiments, or on-site calibration.

[0023] In this embodiment, multivariate optimization is used to search for combinations of adjustment amounts within the permission tables of multiple plate-shaped adjustment mechanisms, such that the objective function ||GΔu-ΔC|| 2 +λ||Δu|| 2 Minimize. The first term in the objective function is used to reduce convexity or plate shape deviation, and the second term is used to suppress excessive actuator movement; the solution is used as a plate shape-related pre-correction quantity, and is still subject to actuator amplitude limit, rate of change limit, and actuator permission table constraints.

[0024] The pre-correction vector is phase-gated according to the actuator permission table to obtain the final correction vector and the second basic vector, as follows: Figure 2 As shown, it includes: In the threading and tensioning phases, the phase gating result of the corresponding actuator is freeze, speed limit, or prohibition; In the acceleration phase, the phase gating result of the corresponding actuator is either speed limit or allow; During the steady-speed phase, the phase gating result of the corresponding actuator is always allowed; during the deceleration phase, the phase gating result of the corresponding actuator is always speed limited; during the commutation and standby phases, the phase gating result of the corresponding actuator is always prohibited; prohibition means that the final correction vector is not output to the corresponding actuator and is taken over by the existing PLC control value. When any of the following safety prohibition conditions are detected: PLC manual mode, limit trigger, interlock not met, fault state, rolling speed not in the release range, or transmission not ready, the output state of the corresponding actuator is prohibited. The phase-gated processing result, the allowed pre-correction vector, and the pre-correction vector after speed-limited execution are used as the final correction vector. The speed limit is executed according to the rate of change: tension correction rate of change ≤ 5 kN / s, rolling speed correction rate of change ≤ 10 m / min / s, and lateral movement correction rate of change ≤ 2 mm / s. It can be understood that the pre-correction vector after speed-limited execution is not the same value as the initial pre-correction vector. Using a 1-second control cycle to explain the tension speed limit release logic, the difference between the preset inlet tension of 110.6 kN in the second pass and the inlet tension of 97.0 kN in the final correction vector is 13.6 kN. Therefore, the inlet tension related correction amount during the first speed limit release does not exceed 5 kN / s. kN, at this point, 97+5=102kN is released, and the remaining part 13.6-5=8.6>5kN, so in the second second, 5kN is released based on the first second, and 102+5=107kN is released. There is still a shortfall of 8.6-5=3.6kN<5kN, so in the third second, 3.6kN is released to reach 110.6kN, and the execution ends; Replace the pre-corrected vector that is frozen in phase gating with the uncorrected vector to be corrected, and replace the pre-corrected vector that is prohibited in phase gating with the existing PLC control value. Then, use the uncorrected vector to be corrected and the existing PLC control value as the second base vector. It is understandable that the existing PLC control values ​​are the basic control values ​​generated or maintained by the existing PLC control system or drive control system based on the original rolling process, safety interlocks, closed-loop control and protection logic; Generate a set of migration vectors based on the remapping vector, the first basic vector, the final correction vector, and the second basic vector. S5. The set migration vector set, the actuator permission status corresponding to each vector in the set migration vector set, and the abnormal degradation reason are combined into a set migration result data packet, and output to the PLC control system, transmission control system, human-machine interface, upper monitoring system, quality traceability database and production report to complete the track reversal set migration. Specifically, the final correction vector in the set migration vector is output to the PLC control system and the drive control system. The remapping vector, the first basic vector and the second basic vector, the actuator permission status corresponding to each vector and the reason for abnormal degradation in the set migration vector are output to the human-machine interface, the upper-level monitoring system, the quality traceability database and production reports for recording, display and traceability.

[0025] Example 2: This example provides a system for implementing the method provided in Example 1, including a field automation system and a set migration control system; The field automation system includes a PLC control system, remote I / O, a drive control system, and a human-machine interface or upper-level monitoring system. The S7-1500 PLC control system and ET200SP remote I / O are used to collect inlet and outlet thicknesses, inlet and outlet tensions, inlet unit tension and outlet unit tension, and the limit status, interlock status, fault status, and drive readiness status of various actuators. The drive control system may include a SINAMICS S120 drive unit and a CU320-2PN control unit, used to provide speed, tension, winding, and drive status. The left and right winding machines are respectively equipped with motors, fans, brakes, encoders, and inverters. The PLC control system exchanges rolling speed, tension, winding, and drive status data with the SINAMICS S120 drive system via PROFINET or drive communication. The human-machine interface or upper-level monitoring system provides pass planning, process recipes, and manual confirmation information. The set migration control system is connected to the field automation system via a PLC data interface, a PROFINET communication interface, or a supervisory control system interface. The set migration control system includes: The data access unit is used to read the measured state vector of the previous pass, the measured state vector of the current pass, the preset state vector of the current pass, the set of operating states of various actuators, and the safety interlock status from the field automation system. The track status vector generation unit, connected to the data access unit, is used to generate a track status vector set based on the records of the measured status vector of the previous track, the measured status vector of the current track, and the preset status vector of the current track. X i ; The role mapping matrix generation unit, connected to the pass state vector generation unit, is used to generate a role mapping matrix M(dir) from physical coordinates to logical inlet-outlet coordinates according to the rolling direction. The actuator permission table generation unit is connected to the data access unit and the track status vector generation unit, and is used to generate an actuator permission table containing four types of states: allowed, speed limit, frozen and prohibited, according to the actuator and track phase. The vector correction unit is connected to the role mapping matrix generation unit and the executor permission table generation unit. It maps the measured state vector of the previous stage and performs correction processing by combining the preset state vector of the current stage and the measured state vector of the current stage. A phase gating unit, connected to the vector correction unit and the actuator permission table generation unit, is used to determine the actuator permission status according to the current pass phase. The output scheduling unit and the traceability recording unit connected to the output scheduling unit are used to output the final correction vector to the PLC control system, the transmission control system, the human-machine interface or the upper-level monitoring system. The traceability recording unit is used to generate a set migration result data packet containing the set migration vector, the actuator permission status and the reason for abnormal degradation.

[0026] Example 3: This example provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the method provided in Example 1.

[0027] Example 4: This example provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in Example 1.

Claims

1. A method for setting and migrating the direction of a 20-roll reversible cold rolling mill for each pass, characterized in that, Includes the following steps: S1. Obtain the preset state vector for each pass. Perform the first pass rolling based on the preset state vector of the first pass. For each subsequent pass, generate the pass state vector set for the current pass based on the measured state vector of the previous pass and the preset state vector of the current pass. X i ; S2. Establish the physical coordinates of the equipment based on the location of each piece of equipment used in rolling, and generate a role mapping matrix of the logical entry-exit coordinates for each pass according to the rolling direction. S3. Based on the current track status vector set. X i Generate the executor permission table for the current stage; S4. For the second pass and each subsequent pass, when the previous pass completes rolling and enters the current pass for reversal, the measured pass state vector of the previous pass is mapped to the role mapping matrix of the current pass to obtain the remapping vector. The preset track state vector of the current track is divided into a vector to be corrected and a first basic vector. Based on the remapping vector, the vector to be corrected is corrected to obtain a pre-corrected vector. The pre-corrected vector is phase-gated according to the executor permission table to obtain the final corrected vector and the second basic vector. Generate a set of migration vectors based on the remapping vector, the first basic vector, the final correction vector, and the second basic vector. S5. The set migration vector set, the actuator permission status corresponding to each vector in the set migration vector set, and the abnormal degradation reason are combined into a set migration result data packet, which is output to the PLC control system, transmission control system, human-machine interface, upper monitoring system, quality traceability database and production report to complete the track reversal set migration.

2. The method as described in claim 1, characterized in that, In S1, the path state vector set X i The expression is: X i =﹛ i,dir i ，P i ，h in,i ，h out,i ，r i ，T in,i ，T out,i ，t in,i ，t out,i ，V i ，v i ，F i ，x U,i ，x L,i ω L,i ， ω R,i ， M L,i ，M R,i ，R L,i ，R R,i ，C i ，A i ﹜ in, i Indicates the track number. dir i Indicates the rolling direction. P i Indicates the phase of the track. h in,i and h out,i These represent the inlet thickness and the outlet thickness, respectively. r i Indicates the reduction rate. T in,i and T out,i These represent the inlet tension and the outlet tension, respectively. t in,i and t out,i These represent the unit tension at the inlet and the unit tension at the outlet, respectively. V i Indicates rolling speed. v i Indicates the strip line speed. F i Indicates rolling force. x U,i and x L,i These represent the lateral displacement of the upper intermediate roller and the lateral displacement of the lower intermediate roller, respectively. ω L,i and ω R,i These represent the roll-up angular velocities on the logic input side and the logic output side, respectively. M L,i and M R,i These represent the winding torque on the logic input side and the winding torque on the logic output side, respectively. R L,i and R R,i These represent the volume diameter on the logic inlet side and the volume diameter on the logic outlet side, respectively. C i Indicates the convexity of the plate shape. A i This represents the set of operating states corresponding to each type of actuator; where, h in,i ，h out,i ，x U,i as well as x L,i The units are all in mm. T in,i ， T out,i The units are all kN. t in,i and t out,i The units are all MPa. ω L,i and ω R,i The units are all rad / min. M L,i and M R,i The units are all N·m. R L,i and R R,i The units are all in mm. V i and v i The units are all m / min. F i The unit is t; The channel phase P i This includes: threading, tensioning, speed increase, speed stabilization, speed decrease, reversing, and standby; the various actuators include: AGC pressing actuator, winding tension actuator, speed setting actuator, lateral adjustment actuator, crown adjustment actuator, and plate roll actuator; and the set of operating states corresponding to each type of actuator. A i This includes: the PLC operating mode, limit status, interlock status, fault status, transmission ready status, and manual / automatic status corresponding to various actuators.

3. The method as described in claim 1, characterized in that, In S2, the establishment of equipment physical coordinates based on the positions of various equipment used in rolling includes: using the 20-roll reversible cold rolling mill as the dividing line, dividing the positions of the coiler, thickness gauge, tension detection device, transmission device and actuator located on its left and right sides into physical left and physical right sides, which serve as equipment physical coordinates; The step of generating the corresponding logical entry-exit coordinate role mapping matrix according to the rolling direction includes: generating the role mapping matrix M(dir) according to the current rolling direction dir, and satisfying the following: q = M(dir)p; Where p=[L m R m ] T L m and R m These represent the winding machine, thickness gauge, tension detection device, transmission device, and actuator on the physical left and physical right sides, respectively. q = logical entry - exit coordinates = [logical entry side, logical exit side] T When dir is rolled from left to right, M(dir) is [[1,0],[0,1]]; when dir is rolled from right to left, M(dir) is [[0,1],[1,0]].

4. The method as described in claim 2, characterized in that, In S3, generating the actuator permission table includes: generating the actuator permission table based on the measured pass phase, rolling speed, rolling force, tension, PLC operating mode, limit status, interlock status, fault status, and transmission ready status of the previous pass and the preset pass status vector of the current pass. The actuator permission table includes an output status corresponding to each type of actuator under the current pass phase. The output status includes allow, speed limit, freeze, and prohibit.

5. The method as described in claim 1, characterized in that, In S4, the step of correcting the vector to be corrected based on the remapping vector includes: The reduction rate is calculated using a thickness-related ratio: Reduction rate = (Measured inlet thickness - Preset outlet thickness) / Measured inlet thickness × 100%; Tension normalization transfer is performed on inlet tension and outlet tension: Inlet tension = measured outlet unit tension of the previous pass × strip width × measured inlet thickness / 1000, Outlet tension = measured inlet unit tension of the previous pass × strip width × preset outlet thickness / 1000; The unit tension at the inlet and the unit tension at the outlet are converted as follows: Unit tension at the inlet = normalized inlet tension × 1000 / (strip width × measured inlet thickness); Unit tension at the outlet = normalized outlet tension × 1000 / (strip width × preset outlet thickness). Lateral movement constraints are applied to the lateral movement of the upper and lower intermediate rollers: the maximum single lateral movement step size of the upper and lower intermediate rollers between adjacent passes is limited to the preset maximum lateral movement step size range; The winding angular velocity and winding torque on the logic entry side and logic exit side are converted as follows: winding angular velocity = 2 × strip linear velocity / roll diameter; winding torque = winding tension × roll diameter / 2, where the roll diameter corresponds to the selected roll diameter on the logic entry side or logic exit side, and the winding tension corresponds to the normalized and migrated entry tension or exit tension. Convert the convexity of the plate shape: calculate the convexity difference = the measured convexity of the previous pass - the preset convexity of the current pass, input the convexity difference into the plate shape control system, and use the plate shape control efficiency coefficient model in the plate shape control system to calculate the convexity adjustment amount of the convexity adjustment actuator through a multivariate optimization algorithm.

6. The method as described in claim 3, characterized in that, In S4, the step of performing phase-gating processing on the pre-corrected vector according to the executor permission table, and obtaining the final corrected vector and the second basic vector, includes: In the threading and tensioning phases, the phase gating result of the corresponding actuator is freeze, speed limit, or prohibition; In the acceleration phase, the phase gating result of the corresponding actuator is either speed limit or allow; During the steady-speed phase, the phase gating result of the corresponding actuator is always allowed; during the deceleration phase, the phase gating result of the corresponding actuator is always speed limited; during the commutation and standby phases, the phase gating result of the corresponding actuator is always prohibited. When any of the following safety prohibition conditions are detected: PLC manual mode, limit trigger, interlock not met, fault state, rolling speed not in the release range, or transmission not ready, the output state of the corresponding actuator is prohibited. The pre-corrected vector that is allowed after phase gating and the pre-corrected vector after speed limit execution are used as the final correction vector. The speed limit is executed according to the rate of change. The pre-corrected vector that is frozen after phase gating is replaced with the uncorrected vector to be corrected. The pre-corrected vector that is prohibited after phase gating is replaced with the existing PLC control value. Then, the uncorrected vector to be corrected and the existing PLC control value are used as the second basic vector.

7. A system for implementing the method as described in any one of claims 1 to 6, characterized in that, This includes field automation systems and set migration control systems; The field automation system includes a PLC control system, remote I / O, a drive control system, and a human-machine interface or upper-level monitoring system. The PLC control system and remote I / O are used to collect data on thickness measurement, tension, limit, interlock, fault, and drive readiness status. The drive control system is used to provide speed, tension, winding, and drive status. The human-machine interface or upper-level monitoring system is used to provide pass planning and process formula. The set migration control system is connected to the field automation system via a PLC data interface, a PROFINET communication interface, or a supervisory control system interface. The set migration control system includes: The data access unit is used to read the measured state vector of the previous pass, the preset state vector of the current pass, the set of operating states of various actuators, and the safety interlock status from the field automation system. The track status vector generation unit, connected to the data access unit, is used to generate a track status vector set based on the recorded measured status vector of the previous track and the preset status vector of the current track. X i ; The role mapping matrix generation unit, connected to the pass state vector generation unit, is used to generate a role mapping matrix M(dir) from physical coordinates to logical inlet-outlet coordinates according to the rolling direction. The actuator permission table generation unit is connected to the data access unit and the track status vector generation unit, and is used to generate an actuator permission table containing four types of states: allowed, speed limit, frozen and prohibited, according to the actuator and track phase. The vector correction unit is connected to the role mapping matrix generation unit and the executor permission table generation unit. It maps the measured state vector of the previous stage and performs correction processing by combining it with the preset state vector of the current stage. A phase gating unit, connected to the vector correction unit and the actuator permission table generation unit, is used to determine the actuator permission status according to the current pass phase. The output scheduling unit and the traceability recording unit connected to the output scheduling unit are used to output the final correction vector to the PLC control system, the transmission control system, the human-machine interface or the upper-level monitoring system. The traceability recording unit is used to generate a set migration result data packet containing the set migration vector, the actuator permission status and the reason for abnormal degradation.

8. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, which, when executed by the processor, implements the method according to any one of claims 1 to 6.

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

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