Roller deflection deformation detection method and device based on inertial reference

Abstract

The application provides a kind of based on inertia reference roll deflection deformation detection method and device, it is related to roll detection technical field, roll deflection deformation detection method steps include: S1, empty load gravity vector alignment and inertia error compensation modeling, S2, with load acceleration anti-interference identification and adaptive fusion filtering, S3, compensation fusion attitude solution and calculation roll neck space deflection angle, S4, variable cross-section beam space deflection reconstruction and shape closed loop compensation control.The application constructs adaptive acceleration trust weight mechanism, adjusts acceleration weight by the identification difference of transient impact and steady deflection deformation, realizes the high robustness measurement of roll neck space posture under different rolling conditions, comprehensively variable cross-section beam continuity equation and diameter stiffness decrement model, reconstructs the space deflection equation of roll body from roll neck end deflection angle, so that reconstructed roll deflection curve characterizes the roll gap bearing characteristics of rolling deformation zone, significantly improves the accuracy of rolling mill shape control.

Description

Technical Field

[0001] This invention relates to the field of roll inspection technology, specifically to a method and apparatus for detecting roll flexural deformation based on an inertial reference. Background Technology

[0002] Strip shape quality is a core indicator for evaluating the overall performance of strip products, while the roll gap morphology under load determines the dimensional accuracy of the finished strip and the stability of the rolling process. With the large-scale industrial production of high-strength steel, ultra-thin strip, and other difficult-to-deform varieties, end-use applications have increasingly stringent requirements for strip shape dimensional tolerances, placing higher demands on the control precision of the roll gap shape by rolling mills. Under actual load-bearing conditions, rolls are subjected to the combined effects of multiple loads, including rolling force, bending force, and thermo-coupling, which can easily induce complex three-dimensional spatial deflection deformation, thus affecting the actual shape of the loaded roll gap. Since the stress mechanism of rolls is complex and difficult to analyze and predict, real-time and accurate acquisition of the actual deflection state of rolls under load conditions has become crucial for improving the accuracy of closed-loop strip shape control.

[0003] Existing roll system condition measurement has the following problems: (1) Offline static detection is limited by offline detection conditions under shutdown, and can only obtain the static geometric error of the rolls, making it difficult to characterize the dynamic deflection evolution law during the rolling process; (2) Most current online monitoring methods rely heavily on external macroscopic sensing parameters such as rolling force and cylinder displacement, and indirectly invert the roll system state by combining a preset rolling mechanics model. Its accuracy is constrained by the simplification assumptions of the model and the deviation of the on-site working conditions, and it is difficult to meet the accuracy requirements of modern rolling mill shape control. Existing detection technology is limited by offline detection methods and model accuracy, making it difficult to truly and in real time perceive the dynamic deflection behavior of the rolls under complex working conditions. For the roll body parts located in the rolling deformation zone where sensors cannot be directly deployed, it seriously restricts the improvement of rolling mill shape control accuracy.

[0004] Application CN110639966A discloses a non-contact online roll shape detection device and method. It acquires the roll surface profile through non-contact ranging to achieve online roll shape detection. While non-contact measurement avoids sensor wear and offers high static calibration accuracy, it only measures the radial change of the roll body surface profile and cannot directly obtain the absolute deflection attitude of the roll neck in three-dimensional space. Application CN115532851A discloses a feedforward thickness control method for hot strip mills based on dynamic analysis. It indirectly inverts the bearing roll gap shape and roll deflection state by real-time acquisition of rolling force, bending force, and reduction displacement signals, combined with the influence function method or elastic foundation beam model. However, it does not directly measure the actual deflection of the roll body, and it is particularly difficult to identify local deflection anomalies that are weakly correlated with macroscopic force signals. This results in inversion accuracy that cannot meet the requirements of high-precision closed-loop shape control under complex service conditions. Therefore, it is necessary to propose a roll deflection deformation detection method and device based on inertial reference. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention aims to provide a roll deflection detection method and device based on inertial reference. It establishes an inertial error compensation model to feedforward compensation of the loaded angular velocity, suppressing long-term drift accumulation of inertial devices. An adaptive acceleration trust weight mechanism is constructed, and by differentiating and adjusting the acceleration weight based on transient impacts and steady-state deflection, highly robust measurement of the roll neck spatial attitude under different rolling conditions is achieved. Primarily based on bearing assembly clearance compensation and cross-sectional bending stiffness mapping models, combined with the continuity equation of variable cross-section beams and the diameter stiffness reduction model, the entire roll body spatial deflection equation is reconstructed based on the measured deflection angle at the roll neck end. This accurately characterizes the roll gap bearing characteristics in the rolling deformation zone, effectively improving the shape control accuracy and the reliability of deviation warning.

[0006] This invention provides a method for detecting roll flexural deformation based on an inertial reference, the steps of which include: S1. Under no-load conditions, the drive roll rotates at a set speed. The gravity vector of the roll is aligned by the inertial measurement unit to determine the no-load reference quaternion, the original angular velocity is collected, and an inertial error compensation model is established. S2. During rolling under load, the original acceleration of the roll is collected. The phase modulus reference of the roll is determined by the in-phase reference modulus within the sliding window. The interference margin is constructed based on the absolute deviation between the original acceleration of the roll and the phase modulus reference. Transient impact interference and steady-state flexural deformation are identified based on the interference margin. If it is transient impact interference, the original acceleration is updated with the in-phase reference acceleration and the acceleration weight is reduced. If it is steady-state flexural deformation, the phase modulus reference is updated and the acceleration weight is restored. The filtered acceleration of the roll is obtained after weighted fusion criteria. S3. Obtain the compensated angular velocity through the inertial error compensation model, and calculate the roll attitude quaternion by combining the compensated angular velocity and the filtered acceleration. Multiply the roll attitude quaternion with the inverse quaternion of the no-load reference quaternion to obtain the roll relative offset quaternion, and obtain the roll neck spatial deflection angle. S4. Using the spatial deflection angle of the roll neck as the boundary condition, and based on the continuity equation of the variable cross-section beam and the mapping model of bending stiffness, establish the spatial deflection equation of the roll body. for: ; In the formula, The length of the roller body. The deflection angle at the drive end of the roller body. The deflection angle at the operating end of the roller body. The coordinates for the axial position of the roll are given. The roll detection coordinate system is based on the center of the operating end face of the roll body as the origin. The shaft is positioned along the central axis of the roll, with its positive direction pointing from the operating end to the drive end. The shaft is set vertically. Axis perpendicular to flat; Based on the decomposition of the deflection angles at both ends of the roll body, the symmetrical and asymmetrical deflection amounts are obtained. Combining the error between the target posture and the roll deflection posture, the compensation adjustment amount of each execution component in the mill is obtained through the spatial deflection control matrix calibrated by the roll finite element model, thereby compensating for the spatial deflection deformation error of the roll.

[0007] Preferably, the acceleration weight in S2 for: , ; In the formula, , , For the original acceleration components, For adjustment coefficients, As a reference for phase magnitude; Acceleration weight The criterion is: if the interference margin ≤threshold Then acceleration weight Unchanged, if interference margin > Threshold If the duration of the out-of-range error N is less than the steady-state threshold period M, then the current acceleration is updated with the mean of the in-phase reference acceleration, and the acceleration weights are adjusted. The process is decremented. If the duration of the out-of-tolerance error N is greater than or equal to the steady-state threshold period M, then it is determined to be a steady-state flexural deformation. The original acceleration is retained, and the acceleration weighting is stopped. Decreasing.

[0008] Preferably, in S3, the compensated angular velocity will be... With filtered acceleration Through acceleration weights Fusion, based on discrete time step Recursive update of posture quaternions : ; In the formula, The attitude quaternion of the previous time step With filtered acceleration The attitude error gradient term between them, This refers to the spatial deflection angle of the roll at the roll neck at the drive end and the operating end of the roll. For the scalar components of the relative attitude quaternion.

[0009] Preferably, S4 includes: S41. Measure the radial assembly clearance between the roll neck and the bearing housing of the target roll. and the support span of the bearing housing in the axial direction of the roll. ; S42. Determine the radial assembly clearance deflection angle. , The roll space deflection angle at the roll neck of the roll drive end and the operating end. Subtract radial assembly clearance deflection angle The deflection angle of the roller body edge is obtained. ; S43. Measure the diameter of the roller neck section. With the diameter of the roller body Based on the proportional relationship of the moments of inertia of a circular cross section, the reduction coefficient of bending stiffness from the roll neck to the roll body is determined. Based on the continuity of torque transmission between the cantilever section and the roll body section, the deflection angle of the roll body edge at the bearing housing location is adjusted. Mapped to the equivalent boundary deflection angle at the end of the roll body section : , ; In the formula, The moment transfer correction factor is determined during calibration; S44, Equivalent boundary deflection angle at the end of the roll section obtained from S43 Substituting these as displacement boundary conditions into the continuity equation and boundary conditions of the variable cross-section beam, the spatial deflection equation of the roll body is obtained. .

[0010] The preferred continuity equation for the variable cross-section beam in S44 is as follows: ; Displacement boundary conditions: ; In the formula, The elastic modulus of the roll. Let be the moment of inertia function of the cross-section of the roll distributed along the axial direction. , These are the roller body operating ends. and The deflection displacement relative to the roller body reference; , These are the first derivatives of the continuous spatial flexure curve at the operating end and the transmission end, respectively, representing the slope of the curve at the operating end and the transmission end, i.e., the flexure deflection angle.

[0011] Preferably, the spatial deflection equation of the roll body in S44 Setup process: With the center of the operating end section of the roller body as the origin, the direction along the roller body axis towards the transmission end is... Establish a local coordinate system along the positive axis, with the length of the roll body as follows: The roller section is modeled as a continuous spatial beam subjected to combined bending and torsional loads. Under the assumptions of small deformation and uniform cross-section, the deflection displacement function is approximated by interpolation using a cubic polynomial: ; Based on the effective boundary deflection angles at both ends of the roll body obtained from S43, and combined with the displacement constraint conditions at the supports at both ends of the roll body, a boundary condition matrix is ​​constructed. Substituting the roll body displacement and deflection boundary conditions into the cubic polynomial and the first derivative, the undetermined coefficients in the cubic interpolation polynomial of the deflection displacement are obtained. , , , Thus, the spatial deflection equation of the roll body is obtained. .

[0012] Preferably, the spatial deflection equation of the roll body in S44 Decomposed into horizontal deflection and vertical deflection : ; In the formula, The equivalent spatial deflection direction angle, , , These are the relative attitude quaternions of the operating end. Axial components and Axial components, , These are the quaternions of the relative attitude of the transmission ends. Axial components and Axial components; horizontal deflection and vertical deflection It is decomposed into symmetrical deflection characteristics and asymmetrical deflection, which control the various actuators in the rolling mill; ; In the formula, For vertically symmetrical bending, This represents the vertical asymmetric tilt. For horizontally symmetrical lateral bending, It represents the horizontal asymmetric lateral deviation.

[0013] Preferably, the difference between the obtained symmetrical deflection feature quantity and the asymmetrical deflection quantity and the target feature quantity is used as the spatial deflection deformation error: ; ; In the formula, , , , These represent the errors in vertical bending, vertical tilting, horizontal lateral bending, and horizontal lateral deflection, respectively. This is the vertical bending amount. Vertical tilt amount Horizontal lateral bending amount This is the horizontal lateral deviation. , , , The target vertical bending characteristic, target vertical tilt characteristic, target horizontal lateral bending characteristic, and target horizontal lateral deflection characteristic are respectively identified. The actuators configured in the target mill are obtained, and the gain coefficient of each actuator's adjustment amount on the deflection amount is determined through calibration. A spatial deflection control matrix is ​​then established. Based on spatial deflection control matrix and flexural deformation error vector To obtain the adjustment amount of each execution component. To minimize the residual deflection error after compensation, specifically: ; In the formula, Spatial Deflection Control Matrix of 3D matrix Adjust the vectors for each execution component. For the first The adjustment amount of each channel, The number of adjustment channels for mill space deflection control. Spatial Deflection Control Matrix The Moore-Penrose pseudo-inverse allocates adjustment amounts with the minimum norm when each execution component is redundantly configured.

[0014] Secondly, the present invention also provides a roll flexure deformation detection device based on an inertial reference for detecting roll flexure deformation, which includes an inertial measurement unit, a power supply module, a wireless transmission module, a main controller, and an execution component. The inertial measurement unit is disposed on the roll neck end face. The output end of the inertial measurement unit is electrically connected to the input end of the wireless transmission module. The power supply module is electrically connected to the power supply end of both the inertial measurement unit and the wireless transmission module. The wireless transmission module is connected to the main controller via a wireless communication channel. The output end of the main controller is electrically connected to the control end of the execution component.

[0015] Preferably, the actuating components include a work roll bending cylinder, an intermediate roll bending cylinder, a pressing system, a roll traversing mechanism, and a cooling mechanism. The cylinder bodies of the work roll bending cylinder and the intermediate roll bending cylinder are respectively disposed in the bending cylinder fixing seats at the operating end and the transmission end of the rolling mill. The piston rod ends of the work roll bending cylinder and the intermediate roll bending cylinder are respectively connected to the work roll bearing seat and the intermediate roll bearing seat through bending roll blocks. The pressing system includes a hydraulic pressing cylinder, which is disposed between the upper crossbeam of the rolling mill and the upper support roll bearing seat. The roll traversing mechanism is disposed at the rolling mill. The execution end of the roll traverse mechanism is axially connected to the roll operation end bearing seat through a thrust bearing. The cooling mechanism is set on the cooling beams at the input and output ends of the mill. The nozzles in the cooling mechanism are divided into multiple independent control zones along the length of the roll body. The hydraulic control oil circuits of the work roll bending cylinder, intermediate roll bending cylinder, and pressing system, as well as the drive circuit of the roll traverse mechanism, are connected to the mill hydraulic station through proportional valves. The control ends of each proportional valve and the flow regulating valve control ends of the segmented cooling mechanism are electrically connected to the output end of the main controller.

[0016] Compared with the prior art, the beneficial effects of the present invention are reflected in: (1) The present invention is a roll flexure deformation detection method based on inertial reference. It establishes an inertial error compensation model by using no-load calibration, feedforward compensation of angular velocity during loaded detection, compensates for drift error of inertial devices, constructs an adaptive acceleration trust weight mechanism, and adjusts the fusion weight of acceleration observation in attitude fusion by identifying and processing transient impact and steady-state flexure deformation, ensuring signal quality and continuous detection accuracy under harsh working conditions, and realizing high robustness measurement of roll neck spatial attitude under different rolling conditions.

[0017] (2) The roll deflection detection method based on inertial reference of the present invention mainly uses the bearing assembly clearance compensation and cross section bending stiffness mapping model, combined with the continuity equation of variable cross section beam and the diameter stiffness reduction model, to accurately construct the continuous deflection curve of the whole roll body in space, to compensate for the interference error of the attitude caused by the local elastic deformation of the roll neck section due to the stepped diameter change and bearing clearance, so that the roll body deflection curve reflects the bearing deformation characteristics of the roll gap profile in the rolling deformation zone, and realizes the detection, reconstruction and closed-loop feedback control of the roll in space under load conditions, thereby improving the accuracy of the rolling mill shape control and the reliability of the deviation warning. Attached Figure Description

[0018] Figure 1 This is an overall flowchart of the roll flexural deformation detection method based on inertial reference of the present invention; Figure 2 This is a schematic diagram illustrating the principle of spatial deflection equation reconstruction in the roll deflection deformation detection method based on inertial reference of the present invention. Figure 3 This is a schematic diagram of the spatial decomposition of the roll flexure deformation detection method based on inertial reference in this invention. Figure 4 This is a schematic diagram of closed-loop control based on deflection characteristic quantities in the roll deflection deformation detection method based on inertial reference of the present invention; Figure 5 This is an overall structural diagram of the roll flexure deformation detection device of the present invention; Figure 6 This is a schematic diagram of the installation compartment layout of the roll flexure deformation detection device of the present invention; Figure 7 This is a diagram showing the rigid installation and coordinate system definition of the roll flexural deformation detection device at the end of the roll according to the present invention; Figure 8 This is a schematic diagram of the three-dimensional spatial deflection reconstruction and boundary conditions of the roll body of the present invention; Figure 9 This is a schematic diagram of the orthogonal decomposition of the roll body deflection of the present invention.

[0019] Figure label: 1. Housing; 2. Wave-transparent end cap; 3. Power module; 4. Inertial measurement unit; 5. Wireless transmission module; 6. Roll; 61. Roll body; 62. Roll neck. Detailed Implementation

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0021] This invention provides a method for detecting roll flexural deformation based on an inertial reference, such as... Figure 1 As shown, the steps include: S1. Under no-load conditions, the drive roll rotates at a set speed. The gravity vector of the roll is aligned by the inertial measurement unit to determine the no-load reference quaternion, the original angular velocity is collected, and an inertial error compensation model is established.

[0022] S2. During loaded rolling, the original acceleration of the roll is collected. The phase modulus reference of the roll is determined by the in-phase reference modulus within the sliding window. The interference margin is constructed based on the absolute deviation between the original acceleration of the roll and the phase modulus reference. Based on interference margin Identify transient impact disturbances and steady-state flexural deformation. If it is a transient impact disturbance, update the original acceleration with the in-phase reference acceleration and decrease the acceleration weight. If it is steady-state flexural deformation, then update the phase modulus reference and restore the acceleration weights. The filtered acceleration of the roll is obtained after weighted fusion criteria. .

[0023] Acceleration weight for: , ; In the formula, , , For the original acceleration components, For adjustment coefficients, It serves as the phase modulus reference.

[0024] Acceleration weight The criterion is: if the interference margin ≤threshold Then acceleration weight Unchanged, if interference margin > Threshold If the duration of the out-of-range error N is less than the steady-state threshold period M, then the current acceleration is updated with the mean of the in-phase reference acceleration, and the acceleration weights are adjusted. The process is decremented. If the duration of the out-of-tolerance error N is greater than or equal to the steady-state threshold period M, then it is determined to be a steady-state flexural deformation. The original acceleration is retained, and the acceleration weighting is stopped. Decreasing.

[0025] S3. Obtain the compensated angular velocity through the inertial error compensation model. Combined with the compensated angular velocity With filtered acceleration Solving the quaternion of the roll attitude The quaternion of the roll orientation With no-load reference quaternion Multiplying the inverse quaternions yields the quaternion of the relative roll offset. The spatial deflection angle of the roll neck is obtained. .

[0026] Compensated angular velocity With filtered acceleration Through acceleration weights Fusion, based on discrete time step Recursive update of posture quaternions : ; In the formula The attitude quaternion of the previous time step With filtered acceleration The attitude error gradient term between them, This refers to the spatial deflection angle of the roll at the roll neck at the drive end and the operating end of the roll. For the scalar components of the relative attitude quaternion.

[0027] like Figure 2 As shown, S4, with the roll neck space deflection angle As boundary conditions, based on the continuity equation of a variable cross-section beam and the mapping model of bending stiffness, the spatial deflection equation of the roll body is established. : ; In the formula, The length of the roller body. The deflection angle at the drive end of the roller body. The deflection angle at the operating end of the roller body. The coordinates for the axial position of the roll are given. The roll detection coordinate system is based on the center of the operating end face of the roll body as the origin. The shaft is positioned along the central axis of the roll, with its positive direction pointing from the operating end to the drive end. The shaft is set vertically. Axis perpendicular to The plane is used to determine the positive direction of the roll detection coordinate system by right-hand rule.

[0028] Spatial deflection equation of the roll body Setup process: With the center of the operating end section of the roller body as the origin, the direction along the roller body axis towards the transmission end is... Establish a local coordinate system along the positive axis, with the length of the roll body as follows: The roller section is modeled as a continuous spatial beam subjected to combined bending and torsional loads. Under the assumptions of small deformation and uniform cross-section, the deflection displacement function is approximated by interpolation using a cubic polynomial: .

[0029] Based on the effective boundary deflection angles at both ends of the roll body, and combined with the displacement constraints at the supports at both ends of the roll body, a boundary condition matrix is ​​constructed. Substituting the roll body displacement and deflection boundary conditions into the cubic polynomial and the first derivative, the undetermined coefficients in the cubic interpolation polynomial of the deflection displacement are obtained. , , , Thus, the spatial deflection equation of the roll body is obtained. .

[0030] like Figure 3 As shown, symmetrical and asymmetrical deflection amounts are obtained by decomposing the deflection angles at both ends of the roll body. Combining the error between the target posture and the roll deflection posture, the compensation adjustment amount of each execution component in the mill is obtained through the spatial deflection control matrix calibrated by the roll finite element model, thereby compensating for the spatial deflection deformation error of the roll.

[0031] S4 includes: S41. Obtain the radial assembly clearance between the roll neck and the bearing housing of the target roll. and the support span of the bearing housing in the axial direction of the roll. .

[0032] Determine the radial assembly clearance deflection angle , The roll space deflection angle at the roll neck of the roll drive end and the operating end. Subtract radial assembly clearance deflection angle The deflection angle of the roller body edge is obtained. .

[0033] S43. Measure the diameter of the roller neck section. With the diameter of the roller body Based on the proportional relationship of the moments of inertia of a circular cross section, the reduction coefficient of bending stiffness from the roll neck to the roll body is determined. Based on the continuity of torque transmission between the cantilever section and the roll body section, the deflection angle of the roll body edge at the bearing housing location is adjusted. Mapped to the equivalent boundary deflection angle at the end of the roll body section : , ; In the formula, This is the correction factor for moment transfer determined during calibration.

[0034] S44, Equivalent boundary deflection angle at the end of the roll section obtained from S43 Substituting these as displacement boundary conditions into the continuity equation and boundary conditions of the variable cross-section beam, the spatial deflection equation of the roll body is obtained. .

[0035] Continuity equation for variable cross-section beams in S44: ; Displacement boundary conditions: ; In the formula, The elastic modulus of the roll. Let be the moment of inertia function of the cross-section of the roll distributed along the axial direction. , These are the roller body operating ends. and The deflection displacement relative to the roller body reference; , These are the first derivatives of the continuous spatial flexure curve at the operating end and the transmission end, respectively, representing the slope of the curve at the operating end and the transmission end, i.e., the flexure deflection angle.

[0036] like Figure 4 , Figure 8 and Figure 9 As shown, the spatial deflection equation of the roll body 61 in S44 Decomposed into horizontal deflection and vertical deflection : ; In the formula, The equivalent spatial deflection direction angle, , , These are the relative attitude quaternions of the operating end. Axial components and Axial components, , These are the quaternions of the relative attitude of the transmission ends. Axial components and Axial components.

[0037] horizontal deflection and vertical deflection It is decomposed into symmetrical deflection characteristics and asymmetrical deflection, which control the various actuators in the rolling mill; ; In the formula, For vertically symmetrical bending, This represents the vertical asymmetric tilt. For horizontally symmetrical lateral bending, It represents the horizontal asymmetric lateral deviation.

[0038] The difference between the obtained symmetrical deflection feature quantity and the asymmetrical deflection quantity and the target feature quantity is used as the spatial deflection deformation error: ; ; In the formula, , , , These represent the errors in vertical bending, vertical tilting, horizontal lateral bending, and horizontal lateral deflection, respectively. This is the vertical bending amount. Vertical tilt amount Horizontal lateral bending amount This is the horizontal lateral deviation. , , , The target vertical bending characteristic, target vertical tilt characteristic, target horizontal lateral bending characteristic, and target horizontal lateral deflection characteristic are respectively identified. The actuators configured in the target mill are obtained, and the gain coefficient of each actuator's adjustment amount on the deflection amount is determined through calibration. A spatial deflection control matrix is ​​then established. Based on spatial deflection control matrix and flexural deformation error vector To obtain the adjustment amount of each execution component. To minimize the residual deflection error after compensation, specifically: ; In the formula, Spatial Deflection Control Matrix of 3D matrix Adjust the vectors for each execution component. For the first The adjustment amount of each channel, The number of adjustment channels for mill space deflection control. Spatial Deflection Control Matrix The Moore-Penrose pseudo-inverse allocates adjustment amounts with the minimum norm when each execution component is redundantly configured.

[0039] like Figure 5 , Figure 6 and Figure 7 As shown, the present invention also provides a roll flexure deformation detection device based on an inertial reference for detecting roll flexure deformation, comprising a housing 1, an inertial measurement unit 4, a power supply module 3, a wireless transmission module 5, a main controller, and an execution component. The inertial measurement unit 4 is disposed on the end face of the roll neck 62. The output end of the inertial measurement unit 4 is electrically connected to the input end of the wireless transmission module 5. The power supply module 3 is electrically connected to the power supply end of the inertial measurement unit 4 and the power supply end of the wireless transmission module 5, respectively. The wireless transmission module 5 is connected to the main controller via a wireless communication channel. The output end of the main controller is electrically connected to the control end of the execution component. The main control unit receives signals from inertial measurement unit 4, calibrates the no-load reference quaternion calibration and establishes an inertial error compensation model, identifies and adaptively fuses the transient impact and steady-state deflection deformation of acceleration under load based on a phase synchronous sliding window, and calculates the spatial deflection angle of the roll neck 62 after fusion compensation based on the angular velocity. Using the spatial deflection angle as the boundary condition, the continuous spatial deflection equation of the entire roll body is reconstructed based on the continuity equation of the variable cross-section beam and the bending stiffness mapping model. It extracts symmetric and asymmetric flexural features, combines them with the identified spatial flexural control matrix to calculate and output the adjustment amount of the execution component.

[0040] The housing 1 adopts a flange-type structure adapted to the end face of the roll neck 62. The inertial measurement unit 4 is coaxially connected to the rotation axis of the roll. The spatial motion of the roll neck 62 is measured by the inertial measurement unit 4. The open side of the housing 1 is encapsulated with a non-metallic transparent end cover 2. The wireless transmission module 5 transmits the three-axis angular velocity and three-axis acceleration of the inertial measurement unit 4 wirelessly to the main controller through the transparent end cover 2. After receiving the signal, the main controller performs no-load reference quaternion calibration, zero-bias drift compensation, acceleration anti-interference extraction, roll neck spatial deflection angle attitude calculation and full roll body deflection morphology reconstruction. It outputs the adjustment amount of the execution component to realize closed-loop control of the roll spatial deflection state. The execution components include a work roll bending cylinder, an intermediate roll bending cylinder, a pressing system, a roll traversing mechanism, and a cooling mechanism. The cylinder bodies of the work roll bending cylinder and the intermediate roll bending cylinder are respectively installed in the bending cylinder fixing seats at the operating end and the transmission end of the mill. The piston rod ends of the work roll bending cylinder and the intermediate roll bending cylinder are connected to the work roll bearing seat and the intermediate roll bearing seat respectively through bending roll blocks. The pressing system includes a hydraulic pressing cylinder, which is installed between the upper crossbeam and the upper support roll bearing seat of the mill. The roll traversing mechanism is installed on the mill, and the execution end of the roll traversing mechanism is axially connected to the roll operating end bearing seat through a thrust bearing. The cooling mechanism is installed on the cooling beams at the input and output ends of the mill. The nozzles in the cooling mechanism are divided into multiple independent control zones along the length of the roll body. The hydraulic control of the work roll bending cylinder, the intermediate roll bending cylinder, and the pressing system... The hydraulic circuit and the drive circuit of the roll lateral movement mechanism are connected to the mill hydraulic station through proportional valves. The control terminals of each proportional valve and the control terminals of the flow regulating valves of the segmented cooling mechanism are electrically connected to the output terminals of the main controller. The work roll bending cylinder and the intermediate roll bending cylinder receive the bending force in the adjustment amount and apply bending moment to the roll neck 62 to adjust the bending deflection of the roll 6. The pressing system receives the pressing tilt in the adjustment amount and adjusts the roll gap tilt by controlling the displacement difference of the pressing cylinders on both sides of the mill. The axial roll shifting mechanism of the roll 6 receives the roll shifting position in the adjustment amount and changes the roll gap profile by axially shifting the continuously variable crown roll 6 to control the deflection shape of the roll 6. The cooling mechanism receives the segmented cooling in the adjustment amount and changes the thermal crown of the roll 6 to compensate for the deflection of the roll 6 by thermal expansion and contraction. The execution components work together to detect the deflection deformation of the roll 6 to form a closed-loop feedback control.

[0041] In the inertial reference-based method and device for detecting roll flexural deformation, the parameters for kinematic data acquisition, attitude calculation, and flexural reconstruction at the end of the roll neck 62 are all defined and calculated independently and synchronously in two channels at the operating end O and the transmission end D.

[0042] This invention presents a method and apparatus for detecting roll flexural deformation based on an inertial reference. An inertial error compensation model is established to feedforward compensation of the loaded angular velocity, suppressing long-term drift accumulation of inertial devices. An adaptive acceleration trust weight mechanism is constructed, and the acceleration weight is adjusted differentially based on the identification of transient impacts and steady-state flexural deformations to achieve highly robust measurement of the roll neck spatial attitude under different rolling conditions. Based primarily on a bearing assembly clearance compensation and cross-sectional bending stiffness mapping model, combined with the continuity equation of a variable cross-section beam and a diameter stiffness reduction model, the entire roll body spatial flexural equation is reconstructed based on the measured deflection angle at the roll neck end. This accurately characterizes the roll gap bearing characteristics in the rolling deformation zone, effectively improving the shape control accuracy and the reliability of deviation warning.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A method for detecting roll flexural deformation based on an inertial reference, characterized in that, The steps include: S1. Under no-load conditions, the drive roll rotates at a set speed. The gravity vector of the roll is aligned by the inertial measurement unit to determine the no-load reference quaternion, the original angular velocity is collected, and an inertial error compensation model is established. S2. During rolling under load, the original acceleration of the roll is collected. The phase modulus reference of the roll is determined by the in-phase reference modulus within the sliding window. The interference margin is constructed based on the absolute deviation between the original acceleration of the roll and the phase modulus reference. Transient impact interference and steady-state flexural deformation are identified based on the interference margin. If it is transient impact interference, the original acceleration is updated with the in-phase reference acceleration and the acceleration weight is reduced. If it is steady-state flexural deformation, the phase modulus reference is updated and the acceleration weight is restored. The filtered acceleration of the roll is obtained after weighted fusion criteria. S3. Obtain the compensated angular velocity through the inertial error compensation model, and calculate the roll attitude quaternion by combining the compensated angular velocity and the filtered acceleration. Multiply the roll attitude quaternion with the inverse quaternion of the no-load reference quaternion to obtain the roll relative offset quaternion, and obtain the roll neck spatial deflection angle. S4. Using the spatial deflection angle of the roll neck as the boundary condition, and based on the continuity equation of the variable cross-section beam and the mapping model of bending stiffness, establish the spatial deflection equation of the roll body. for: ； In the formula, The length of the roller body. The deflection angle at the drive end of the roller body. The deflection angle at the operating end of the roller body. The coordinates for the axial position of the roll are given. The roll detection coordinate system is based on the center of the operating end face of the roll body as the origin. The shaft is positioned along the central axis of the roll, with its positive direction pointing from the operating end to the drive end. The shaft is set vertically. Axis perpendicular to flat; Based on the decomposition of the deflection angles at both ends of the roll body, the symmetrical and asymmetrical deflection amounts are obtained. Combining the error between the target posture and the roll deflection posture, the compensation adjustment amount of each execution component in the mill is obtained through the spatial deflection control matrix calibrated by the roll finite element model, thereby compensating for the spatial deflection deformation error of the roll.

2. The method for detecting roll flexural deformation based on an inertial reference according to claim 1, characterized in that, Acceleration weights in S2 for: ， ； In the formula, , , For the original acceleration components, For adjustment coefficients, As a reference for phase magnitude; Acceleration weight The criterion is: if the interference margin ≤threshold Then acceleration weight Unchanged, if interference margin > Threshold If the duration of the out-of-range error N is less than the steady-state threshold period M, then the current acceleration is updated with the mean of the in-phase reference acceleration, and the acceleration weights are adjusted. The process is decremented. If the duration of the out-of-tolerance error N is greater than or equal to the steady-state threshold period M, then it is determined to be a steady-state flexural deformation. The original acceleration is retained, and the acceleration weighting is stopped. Decreasing.

3. The method for detecting roll flexural deformation based on an inertial reference according to claim 2, characterized in that, In S3, the compensated angular velocity will be... With filtered acceleration Through acceleration weights Fusion, based on discrete time step Recursive update of posture quaternions : ； In the formula, The attitude quaternion of the previous time step With filtered acceleration The attitude error gradient term between them, This refers to the spatial deflection angle of the roll at the roll neck at the drive end and the operating end of the roll. For the scalar components of the relative attitude quaternion.

4. The roll flexural deformation detection method based on inertial reference according to claim 3, characterized in that, S4 include: S41. Measure the radial assembly clearance between the roll neck and the bearing housing of the target roll. and the support span of the bearing housing in the axial direction of the roll. ; S42. Determine the radial assembly clearance deflection angle. , The roll space deflection angle at the roll neck of the roll drive end and the operating end. Subtract radial assembly clearance deflection angle The deflection angle of the roller body edge is obtained. ; S43. Measure the diameter of the roller neck section. With the diameter of the roller body Based on the proportional relationship of the moments of inertia of a circular cross section, the reduction coefficient of bending stiffness from the roll neck to the roll body is determined. Based on the continuity of torque transmission between the cantilever section and the roll body section, the deflection angle of the roll body edge at the bearing housing location is adjusted. Mapped to the equivalent boundary deflection angle at the end of the roll body section : ， ； In the formula, The moment transfer correction factor is determined during calibration; S44, Equivalent boundary deflection angle at the end of the roll section obtained from S43 Substituting these as displacement boundary conditions into the continuity equation and boundary conditions of the variable cross-section beam, the spatial deflection equation of the roll body is obtained. .

5. The method for detecting roll flexural deformation based on an inertial reference according to claim 4, characterized in that, Continuity equation for variable cross-section beams in S44: ； Displacement boundary conditions: ； In the formula, The elastic modulus of the roll. Let be the moment of inertia function of the cross-section of the roll distributed along the axial direction. , These are the roller body operating ends. and The deflection displacement relative to the roller body reference; , These are the first derivatives of the continuous spatial flexure curve at the operating end and the transmission end, respectively, representing the slope of the curve at the operating end and the transmission end, i.e., the flexure deflection angle.

6. The method for detecting roll flexural deformation based on an inertial reference according to claim 5, characterized in that, Spatial deflection equation of the roll body in S44 Setup process: With the center of the operating end section of the roller body as the origin, the direction along the roller body axis towards the transmission end is... Establish a local coordinate system along the positive axis, with the length of the roll body as follows: The roller section is modeled as a continuous spatial beam subjected to combined bending and torsional loads. Under the assumptions of small deformation and uniform cross-section, the deflection displacement function is approximated by interpolation using a cubic polynomial: ； Based on the effective boundary deflection angles at both ends of the roll body obtained from S43, and combined with the displacement constraint conditions at the supports at both ends of the roll body, a boundary condition matrix is ​​constructed. Substituting the roll body displacement and deflection boundary conditions into the cubic polynomial and the first derivative, the undetermined coefficients in the cubic interpolation polynomial of the deflection displacement are obtained. , , , Thus, the spatial deflection equation of the roll body is obtained. .

7. The method for detecting roll flexural deformation based on an inertial reference according to claim 6, characterized in that, Spatial deflection equation of the roll body in S44 Decomposed into horizontal deflection and vertical deflection : ； In the formula, The equivalent spatial deflection direction angle, , , These are the relative attitude quaternions of the operating end. Axial components and Axial components, , These are the quaternions of the relative attitude of the transmission ends. Axial components and Axial components; horizontal deflection and vertical deflection It is decomposed into symmetrical deflection characteristics and asymmetrical deflection, which control the various actuators in the rolling mill; ； In the formula, For vertically symmetrical bending, This represents the vertical asymmetric tilt. For horizontally symmetrical lateral bending, It represents the horizontal asymmetric lateral deviation.

8. The method for detecting roll flexural deformation based on an inertial reference according to claim 7, characterized in that, The difference between the obtained symmetrical deflection feature quantity and the asymmetrical deflection quantity and the target feature quantity is used as the spatial deflection deformation error: ； ； In the formula, , , , These represent the errors in vertical bending, vertical tilting, horizontal lateral bending, and horizontal lateral deflection, respectively. This is the vertical bending amount. Vertical tilt amount Horizontal lateral bending amount This is the horizontal lateral deviation. , , , The target vertical bending characteristic, target vertical tilt characteristic, target horizontal lateral bending characteristic, and target horizontal lateral deflection characteristic are respectively identified. The actuators configured in the target mill are obtained, and the gain coefficient of each actuator's adjustment amount on the deflection amount is determined through calibration. A spatial deflection control matrix is ​​then established. Based on spatial deflection control matrix and flexural deformation error vector To obtain the adjustment amount of each execution component. To minimize the residual deflection error after compensation, specifically: ； In the formula, Spatial Deflection Control Matrix of 3D matrix Adjust the vectors for each execution component. For the first The adjustment amount of each channel, The number of adjustment channels for mill space deflection control. Spatial Deflection Control Matrix The Moore-Penrose pseudo-inverse allocates adjustment amounts with the minimum norm when each execution component is redundantly configured.

9. A roll flexure deformation detection device according to any one of claims 1 to 8, wherein the roll flexure deformation detection method based on an inertial reference is characterized in that, It includes an inertial measurement unit, a power supply module, a wireless transmission module, a main controller, and an execution component. The inertial measurement unit is located on the end face of the roll neck. The output end of the inertial measurement unit is electrically connected to the input end of the wireless transmission module. The power supply module is electrically connected to the power supply ends of both the inertial measurement unit and the wireless transmission module. The wireless transmission module communicates with the main controller via a wireless channel. The output end of the main controller is electrically connected to the control end of the execution component.

10. The roll flexural deformation detection device according to claim 9, characterized in that, The actuation components include a work roll bending cylinder, an intermediate roll bending cylinder, a pressing system, a roll traversing mechanism, and a cooling mechanism. The cylinder bodies of the work roll bending cylinder and the intermediate roll bending cylinder are respectively installed in the bending cylinder fixing seats at the operating end and the transmission end of the rolling mill. The piston rod ends of the work roll bending cylinder and the intermediate roll bending cylinder are connected to the work roll bearing seat and the intermediate roll bearing seat respectively through bending roll blocks. The pressing system includes a hydraulic pressing cylinder, which is installed between the upper crossbeam of the rolling mill and the upper support roll bearing seat. The roll traversing mechanism is installed on the rolling mill. The execution end of the roll traverse mechanism is axially connected to the roll operating end bearing seat through a thrust bearing. The cooling mechanism is set on the cooling beams at the input and output ends of the mill. The nozzles in the cooling mechanism are divided into multiple independent control zones along the length of the roll body. The hydraulic control oil circuits of the work roll bending cylinder, intermediate roll bending cylinder, and pressing system, as well as the drive circuit of the roll traverse mechanism, are connected to the mill hydraulic station through proportional valves. The control ends of each proportional valve and the flow regulating valve control ends of the segmented cooling mechanism are electrically connected to the output end of the main controller.

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