A stelmor roller speed closed-loop control method and system based on spinning angle correction

Abstract

The present application relates to the technical field of automatic control, and particularly relates to a Stelmor roller speed closed-loop control method and system based on correction of spinning angle, which automatically adjusts the roller speed with the spinning angle by generating a correction coefficient that monotonously and continuously changes with the spinning angle and embedding the correction coefficient into a feedforward speed formula of a reference section, and overcomes the disadvantages of traditional open-loop control that relies on manual experience and trial-and-error. The correction coefficient is coupled to each section speed formula in an exponential form, and a speed-up coefficient is used to realize differentiated transmission of the influence of the spinning angle in sections, and a slope constraint is applied to the speed change between sections to ensure stable landing points and separation of landing gaps, and to avoid coil stacking or stretching caused by sudden speed changes. The present application uses a double-loop control architecture that combines feedforward calculation with PI outer-loop feedback based on coil spacing deviation, introduces credibility evaluation and transmission time delay compensation in the feedback loop, realizes accurate time alignment of the measured coil spacing and the process parameters, eliminates hysteresis and misalignment, and significantly improves the closed-loop stability and control accuracy.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, specifically a Steyrmo roller speed closed-loop control method and system based on spinneret tilt angle correction. Background Technology

[0002] After high-speed wire rods are rolled by the finishing mill, they need to undergo online controlled cooling via the Steyrmore air-cooling line to achieve uniform microstructure and good mechanical properties. The Steyrmore roller conveyor is responsible for receiving, unwinding, cooling, conveying, and separating the coils before winding. Its speed control directly determines the coil density (i.e., coil pitch) on the roller conveyor, which in turn affects the uniformity of cooling and the final product quality.

[0003] The speed settings of existing Stellmore roller conveyors are usually calculated based on the theoretical coil spacing formula. However, in actual production, the coil winding machine's inclination angle is not constant. Equipment installation deviations, bearing wear caused by long-term operation, and process adjustments for different product specifications can all cause the actual inclination angle to deviate from the standard 15° operating condition. When the inclination angle is too large, the horizontal velocity component after the coil is thrown out changes, and the falling trajectory converges inward, resulting in a smaller actual coil spacing than the theoretical value. This can easily lead to coil stacking (piling up) and uneven local cooling. When the inclination angle is too small, the coil diverges outward, resulting in a larger actual coil spacing. This can easily lead to problems such as coil drift, reverse insertion, and poor coil formation.

[0004] More importantly, the existing speed setting method is an open-loop control, relying solely on theoretical formulas to provide fixed speed values. It neither incorporates the actual tilt angle of the spinning machine as a quantitative control parameter into the calculation nor provides feedback correction based on the measured roll spacing. When the tilt angle changes, operators can only rely on experience to repeatedly try and adjust the speed of each section of the roller conveyor. This not only results in long debugging cycles and poor parameter consistency but also makes it difficult to cope with the roll spacing loss caused by dynamic fluctuations in the tilt angle. In severe cases, it can even lead to malfunctions such as steel snagging on the production line and steel blockage on the coil collecting drum. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a Steyrmo roller speed closed-loop control method and system based on spinning angle correction, so as to solve the problems in the background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a Stellmore roller conveyor speed closed-loop control method based on spinning angle correction, which is executed based on a pre-built identification model and includes the following steps: The basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line are obtained. The basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. The spinning tilt angle correction coefficient is calculated based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or the spinning tilt angle correction coefficient is determined based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and the feedforward speed of the reference section is calculated based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil. The smooth speed setpoint sequence for each control section is determined based on the feedforward roller speed of the reference section, the spin-out tilt correction coefficient, and the preset speed increase coefficients for each section. Speed ​​closed-loop tracking control is performed based on the smooth speed setpoint sequence of the control segment and the current actual speed, and reel distance feedback closed-loop control is performed based on the target reel distance and the distance between each control segment and the spinning point.

[0007] In one embodiment of this application, the formula for calculating the silk-spinning angle correction coefficient is: In the formula, This is the correction factor for the silk-spinning angle. This is the actual tilt angle of the spinning machine. For standard tilt angle, For the minimum allowable tilt angle, For the maximum permissible tilt angle, This is a correction factor.

[0008] In one embodiment of this application, the formula for calculating the speed of the reference section feedforward roller conveyor is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the target lap distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. This is the correction factor for the silk-spinning angle.

[0009] In one embodiment of this application, the method for constructing the tilt angle-correction coefficient relationship model includes: Multiple spinning angle conditions were set, and the actual speed of the reference section roller conveyor was collected under multiple spinning angle conditions. Median of effective circle distance and actual export line speed ; Based on the actual speed of the benchmark section roller conveyor Median of effective circle distance and actual export line speed Calculate the wire spinning angle correction factor for the corresponding wire spinning angle working condition. Wherein, the silk-spinning angle correction coefficient The formula for calculation is: In the formula, The nominal diameter of the coil in the spinning machine; Based on multiple spinning angle conditions and the spinning angle correction coefficient for multiple spinning angle conditions Piecewise linear fitting or monotonic regression is performed to obtain the tilt angle-correction coefficient relationship model.

[0010] In one embodiment of this application, the smooth speed setpoint sequence for each control segment is determined based on the feedforward roller speed of the reference segment, the spinning angle correction coefficient, and the preset speed increase coefficients for each segment, including: Obtain the mechanical tilt angle of the roller conveyor in each control section. And the coefficient of sliding friction between the steel grade coil and the roller conveyor. ; Based on the mechanical inclination angle of the roller conveyor and coefficient of sliding friction Calculate the tilt coupling index Wherein, the tilt coupling index The formula for calculation is: In the formula, As the reference elevation angle, The material coefficient is related to the coil stiffness; Based on the reference section feedforward roller speed, the spinning angle correction coefficient, the preset speed increase coefficients for each section, and the angle coupling index. Calculate the initial speed setpoint for each control segment. Among them, the initial speed setpoint of each control segment The formula for calculation is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the first The growth rate coefficient of the control segment, This is the correction factor for the silk-spinning angle; Based on the initial speed setpoints of each control segment A linear ramp derivation under step size constraints is performed to obtain velocity values ​​for multiple steps, and a smooth velocity setpoint sequence for each control segment is constructed based on the velocity values ​​for multiple steps.

[0011] In one embodiment of this application, speed closed-loop tracking control is performed based on the smoothed speed setpoint sequence of the control segment and the current actual speed, including: In each control cycle, the current speed reference value is extracted from the smooth speed setpoint sequence of the control segment and written to the drive controller of each control segment. The difference between the current actual speed and the speed reference value at the current moment is calculated, and the PI controller performs closed-loop speed adjustment based on the difference to make the actual speed track the reference value.

[0012] In one embodiment of this application, closed-loop control of the reel spacing is performed based on the target reel spacing and the distance between each control segment and the spinning point, including: Acquire the original image captured by the coil image detection unit above the Steyrmo roller conveyor; The outer contour of the coil is extracted from the original image, and an ellipse is fitted to the outer contour of the coil to obtain a fitted ellipse. The ratio of the area of ​​the outer contour of the coil to the area of ​​the fitted ellipse is calculated to obtain the forming integrity. Two adjacent coils are located, and the strip region between the adjacent coils is extracted to obtain the region of interest; the sharpness of the region of interest is extracted to obtain the sharpness of the adjacent boundaries; Extract the distance between adjacent coils to obtain multiple sets of measured coil distances, and calculate the coefficient of variation of multiple sets of measured coil distances to obtain the degree of coil distance dispersion; Multiple sets of measured reel distances are time-aligned and median values ​​are extracted to obtain the effective measured reel distances; and the confidence level of the effective measured reel distances is obtained by weighted summation of the forming integrity, the clarity of adjacent boundaries, and the reel distance dispersion. When the confidence level is greater than or equal to a preset confidence threshold, the relative deviation between the target roll distance and the measured effective roll distance is calculated, and the difference is subjected to control algorithm conversion, dead zone processing, and amplitude limiting constraints to obtain the outer ring roll speed correction amount. The formula for calculating the outer ring roll speed correction amount is: In the formula, For the first The relative deviation of the circle spacing in each cycle For the target lap distance, For the first The measured effective circle distance for each cycle, For the first The outer ring roller speed correction amount per cycle For the amplitude limiting function, This is the proportional gain coefficient. This is the integral gain coefficient. For the cumulative sum of historical biases, This refers to the sequence number of the historical control cycle; The outer ring roller speed correction amount With the initial speed set value Summing is performed to obtain the overall speed setpoint for the current cycle. and the overall speed setpoint The data is sent to the PI controller for closed-loop control.

[0013] In one embodiment of this application, it further includes: Obtain the actual speed of the reference section roller conveyor And the measured tilt angle correction factor The actual speed of the reference section roller conveyor Based on sensor data, the measured tilt angle correction coefficient The effective circle distance is obtained by inversion from the measured actual circle distance; When all target conditions in the first target condition set are met simultaneously in the current control cycle, the tilt angle correction coefficient is updated for use in subsequent production scenarios of products of the same specification. The first target condition set includes: the speed fluctuation of the actual exit line speed and the actual speed of the reference section roller conveyor is less than or equal to a preset fluctuation rate threshold, the number of samples is greater than or equal to a preset quantity threshold, and the confidence level of the measured effective circle distance is greater than or equal to a preset confidence threshold. The confidence level of the measured effective circle distance is extracted during the circle distance feedback closed-loop control process. The mathematical expression for updating the tilt correction factor is: In the formula, To measure the effective circle distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. The actual speed of the reference section roller conveyor. For the updated version, Forgetting factor, This is the tilt correction factor currently in use.

[0014] In one embodiment of this application, it further includes: When the system meets one of the second objective conditions, it enters the protection control state, wherein the second objective conditions include: The actual tilt angle of the spinning machine exceeds the allowable range; The actual speed of the roller conveyor deviates from the set speed value by more than the percentage deviation threshold. There are consecutive missing values ​​of the target number of valid circle intervals; The coil is offset laterally by a preset percentage beyond the effective width of the roller conveyor.

[0015] The distance between adjacent rings is less than the anti-pilling threshold or greater than the anti-drift ring threshold; When entering the protection control state, the tilt angle correction coefficient update and outer loop integral term are frozen, the roll speed correction amount is returned to zero according to the preset slope, and the conservative feedforward speed formula pre-stored for the current steel grade and specification is called.

[0016] This application also provides a Steyrmo roller conveyor speed closed-loop control system based on spinning angle correction, including: The acquisition module is used to acquire the basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line. The basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. The calculation module is used to calculate the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or to determine the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and to calculate the feedforward roller speed of the reference section based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil. The speed setting module is used to determine the smooth speed setting value sequence of each control segment based on the feedforward roller speed of the reference segment, the spinning angle correction coefficient, and the preset speed increase coefficients of each segment. The closed-loop control module is used to perform closed-loop speed tracking control based on the smooth speed setpoint sequence of the control segment and the current actual speed, and to perform closed-loop control of the reel distance based on the target reel distance and the distance between each control segment and the spinning point.

[0017] The beneficial effects of this invention are as follows: This invention provides a Stellmore roller conveyor speed closed-loop control method and system based on coil tilt angle correction. By generating a correction coefficient that monotonically and continuously changes with the tilt angle and embedding it into the feedforward speed formula of the reference section, the roller conveyor speed is automatically adjusted with the tilt angle. This eliminates quality problems such as coil stacking and coil drift caused by tilt angle deviation from standard operating conditions at the root, overcoming the drawbacks of traditional open-loop control that relies on trial and error based on manual experience. Furthermore, the correction coefficient is coupled exponentially to the speed formula of each section, and combined with the speed increase coefficient, it achieves segmented differentiated transmission of the tilt angle effect. Slope constraints are applied to the speed changes between sections to ensure stable landing points and separation at drop points, avoiding coil stacking or stretching caused by sudden speed changes. Based on this, this invention adopts a dual-loop control architecture combining feedforward calculation and PI outer loop feedback based on coil spacing deviation. Reliability assessment and conveying delay compensation are introduced into the feedback loop to achieve precise time alignment between the measured coil spacing and process parameters, eliminating lag and misalignment, and significantly improving closed-loop stability and control accuracy. This invention effectively solves the problems of unquantified tilt angle, lack of feedback correction, long manual trial-and-error cycle, and difficulty in dealing with dynamic fluctuations in existing open-loop setting methods, significantly shortening the debugging cycle and ensuring continuous and safe operation of the production line. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a flowchart illustrating a Stellmore roller speed closed-loop control method based on spinning angle correction in one embodiment of this application. Figure 2 This is a schematic diagram of a Steyrmo roller speed closed-loop control system based on spin tilt angle correction in one embodiment of this application. Detailed Implementation

[0019] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0020] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the layers related to the present invention and are not drawn according to the actual number, shape and size of the layers in the actual implementation. In the actual implementation, the form, number and proportion of each layer can be arbitrarily changed, and the layer layout may also be more complex.

[0021] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of the invention; however, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details.

[0022] This application is mainly used for coil landing point control and roller speed precise adjustment on the Stellmore production line after high-speed wire rod rolling, which can effectively eliminate the problem of coil spacing loss caused by the deviation of the coil spinning machine inclination angle from the standard working condition.

[0023] This method relies on existing equipment in the Steyrmo production line in terms of physical architecture, including the spinning machine, Steyrmo roller conveyor, drive controller, and various sensors. In terms of hardware configuration, a speed sensor (such as an encoder or laser Doppler tachometer) is installed at the exit of the spinning machine to collect the actual exit linear speed of the spinning machine in real time. An angle sensor (such as an inclination sensor or rotary encoder) is installed at the main bearing housing of the spinning machine to measure the actual inclination angle between the axis of the spinning disc and the bearing plane of the Steyrmo roller conveyor. The Steyrmore roller conveyor is divided into several independent control sections along its length. Each control section is equipped with an independent drive motor and encoder for closed-loop speed control. Coil image detection units (such as line scan cameras or area scan cameras with light sources) are installed above or beside the roller conveyor to obtain the actual coil spacing on the roller conveyor. Signals from all the aforementioned sensors and detection units are connected to the process control system. After the controller executes the control algorithm described in this invention, it sends the speed setpoint to the drive controllers of each control section via a fieldbus. The installation and selection of the above components are existing technologies and will not be elaborated further. Innovative technologies include: a Steyrmore roller conveyor speed closed-loop control method based on coil tip angle correction.

[0024] Figure 1 This is a flowchart illustrating a Steyrmo roller speed closed-loop control method based on spinning angle correction in one embodiment of this application. Figure 1 As shown, this application includes the following steps: S110, Obtain the basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line, wherein the basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. S110-1, First obtain the target circle spacing set in the production process. The target coil spacing is set by the production process based on wire specifications (such as diameter and steel grade) and cooling process requirements (such as air cooling intensity and phase change time), and the unit is mm; S110-2, uses a speed sensor to collect the actual exit linear speed of the spinning machine in real time. The unit is m / s; S110-3, Obtain the nominal diameter of the spinning coil. This diameter is the nominal value of the standard coil diameter of the spinning disc of the spinning machine, in mm; S110-4, the actual tilt angle of the spinning machine is measured and obtained through an angle sensor. The inclination angle is the angle between the axis of the spinning disc and the bearing plane of the Steyrmo roller conveyor; S110-5, Obtain the distance between each control section of the Stellmore roller conveyor and the spinning point. and the actual speed of each control section roller conveyor ; S110-6 To ensure the accuracy of subsequent calculations, the signals from each sensor need to be filtered. The angle sensor sampling values ​​are filtered using a moving average filter, with the filter window length ranging from 5 to 20 sampling periods, in order to eliminate the interference of mechanical vibration on the tilt angle measurement.

[0025] S120, calculate the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or determine the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and calculate the reference section feedforward roller speed based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil; The formula for calculating the silk-spinning angle correction factor is: In the formula, This is the correction factor for the silk-spinning angle. This is the actual tilt angle of the spinning machine. For standard tilt angle, For the minimum allowable tilt angle, For the maximum permissible tilt angle, This is a correction factor.

[0026] Specifically, with standard tilt angle Based on this, a silk-spinning angle correction factor is generated according to the pre-calibrated relationship between the inclination angle and the effective coil spacing. This correction factor is within the allowable tilt angle range ( to ) is continuous and monotonic, and in When equal to 1; specifically, when sufficient field calibration data is lacking, the following piecewise continuous relationship is used as the initial relationship: when hour, ;when hour, ;when hour, This relationship causes the inclination angle to change from... Increase to The correction factor decreases monotonically from 1.12 to 1, and the tilt angle decreases from... Increase to The correction factor decreases monotonically from 1 to 0.88. The direction of change of the correction factor is consistent with the physical law - when the tilt angle is too large, the coil will shrink inward and the roller speed needs to be reduced to increase the coil spacing. When the tilt angle is too small, the coil will diverge outward and the roller speed needs to be increased to reduce the coil spacing.

[0027] Furthermore, in another embodiment of this application, the silk-spinning angle correction factor is determined by a pre-constructed tilt angle-correction factor relationship model. The method for constructing the tilt angle-correction factor relationship model includes: (1) Set multiple spinning angle conditions and collect the actual speed of the reference section roller conveyor under multiple spinning angle conditions. Median of effective circle distance and actual export line speed ; For example, under the same steel grade, the same wire rod specification, and a stable wire drawing speed, select at least three different wire drawing angle conditions (e.g., adjusted to different angles respectively). , , Record the actual speed of the reference section roller conveyor. Median of effective circle distance and actual export line speed .

[0028] Median of effective circle spacing The process of obtaining it will be described in detail later.

[0029] (2) Based on the actual speed of the reference section roller conveyor Median of effective circle distance and actual export line speed Calculate the correction factor for the spinning angle under the corresponding spinning angle working condition. Wherein, the silk-spinning angle correction coefficient The formula for calculation is: In the formula, The nominal diameter of the coil in the spinning machine; (3) Correction coefficient for multiple spinning angle conditions and spinning angle correction coefficients based on multiple spinning angle conditions Piecewise linear fitting or monotonic regression is performed to obtain the tilt angle-correction coefficient relationship model.

[0030] Piecewise linear fitting or monotonic regression was performed on each calibration point, and... As a normalization constraint, when there are insufficient calibration samples, the above piecewise continuous relationship is used as the initial relationship, and the fitting and updating are performed after enough samples are accumulated.

[0031] After obtaining the silk-spinning angle correction coefficient Subsequently, the formula for calculating the speed of the reference section feedforward roller conveyor is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the target lap distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. This is the correction factor for the silk-spinning angle.

[0032] The physical meaning of this formula is: the length of wire produced by the spinning machine per unit time is... The length of wire was coiled into loops with a spacing of [missing information]. The coil, the required roller conveyor speed and Proportional to, with Inversely proportional; tilt correction factor The introduction of this feature allows the roller speed to be adjusted accordingly to compensate for the offset of the actual landing point of the coil when the tilt angle deviates from the standard value.

[0033] S130, based on the feedforward roller speed of the reference section, the spinning angle correction coefficient, and the preset speed increase coefficients of each section, determine the smooth speed setpoint sequence of each control section; S130-1, Obtain the mechanical tilt angle of the roller conveyor in each control section. And the coefficient of sliding friction between the steel grade coil and the roller conveyor. ; S130-2, based on the mechanical tilt angle of the roller conveyor and coefficient of sliding friction Calculate the tilt coupling index Wherein, the tilt coupling index The formula for calculation is: In the formula, The reference elevation angle (take) ), The material coefficient related to coil stiffness is (0.9~1.0 for low carbon steel, and [missing value] for high carbon steel). ); The tilt coupling index The physical meaning is: the first The sensitivity coefficient of the control section to the deviation of the spinning angle reflects the depth of the transmission of the influence of the angle correction on the speed of the roller conveyor in this section; The setting basis is the mechanical tilt angle of the roller conveyor in this control section. (The angle between the roller conveyor bearing surface and the horizontal plane) and the coefficient of sliding friction between the steel grade coil and the roller conveyor. .

[0034] When the measured friction coefficient is unavailable, an empirical value is directly taken based on the roller conveyor structure type: benchmark receiving section (no drop). Gentle transition section (elevation <5 meters) ) Large drop separation section (drop ≥ 10) ) ; In actual production, the tilt correction coefficient is corrected in reverse using the self-learning results in subsequent processes. The values ​​are selected and stored in the process formula library using steel type and section as indexes.

[0035] S130-3, based on the reference section feedforward roller speed, the spinning angle correction coefficient, the preset speed increase coefficients for each section, and the angle coupling index. Calculate the initial speed setpoint for each control segment. Among them, the initial speed setpoint of each control segment The formula for calculation is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the first The growth rate coefficient of the control segment, This is the correction factor for the silk-spinning angle; S130-4, based on the initial speed setpoints of each control segment. A linear ramp derivation under step size constraints is performed to obtain velocity values ​​for multiple steps, and a smooth velocity setpoint sequence for each control segment is constructed based on the velocity values ​​for multiple steps.

[0036] It should be noted that the reference speed mentioned above... Divide by This is designed to compensate for the static deviation in the spacing of the coils directly below the silk thread; while the separation section is additionally multiplied by... This is not a cancellation of the former, but because when the coil enters the separation section with drop from the reference section, its conveying driving force changes from pure roller friction to the combined action of gravity and roller friction. This change makes the degree of influence of the tilt angle deviation on the extension / contraction of the coil in the separation section different from that in the reference section. Multiply The essence is to independently adjust the response amplitude of the separation section to the tilt angle deviation, so that the speed distribution of each section of the whole line is consistent with the actual transmission characteristics of the tilt angle deviation, and ensure that the coil separation effect at the drop point is not destroyed by the tilt angle change. Each control section of the Stellmore roller conveyor includes at least a reference receiving section, a speed transition section and a drop separation section. The reference receiving section is located directly below the spinning section, and its Take 0, Take 0, that is The drop separation section is located at the drop position of the roller conveyor. Take a value of 0.10 to 0.30. The speed setting value is set from 0 to 1; the speed setting value of the speed transition segment changes between the speed setting values ​​of adjacent control segments in a linear ramp or S-shaped ramp (this application takes a linear ramp as an example), and the speed setting change in each control cycle does not exceed 0.5% to 3% of the current speed setting value; for example, when transitioning from the reference segment (speed 1.0 m / s) to the separation segment (target speed 1.2 m / s), if the control cycle is 50 ms and the change in each cycle is limited to no more than 1%, it will take about 100 control cycles (i.e. 5 seconds) to complete the full acceleration. This ramp limit can avoid coil stacking or stretching caused by sudden speed changes.

[0037] S140, based on the smooth speed setpoint sequence of the control segment and the current actual speed, perform speed closed-loop tracking control, and based on the target reel distance and the distance between each control segment and the spinning point, perform reel distance feedback closed-loop control.

[0038] (1) Based on the smooth speed setpoint sequence of the control segment and the current actual speed, a closed-loop speed tracking control is performed, including: S140-1, In each control cycle, extract the current speed reference value from the smooth speed setpoint sequence of the control segment and write it into the drive controller of each control segment. S140-2, Calculate the difference between the current actual speed and the speed reference value at the current moment, and use the PI controller to perform closed-loop speed adjustment based on the difference to make the actual speed track the reference value.

[0039] Specifically, the initial speed setpoint is written into the Steyrmo roller conveyor drive controller: a speed inner loop is formed by feedback from the roller conveyor motor encoder, which adjusts the actual speed of each control section of the roller conveyor. Track the corresponding speed setpoint The speed inner loop uses a PI controller, with the proportional gain and integral time constant tuned according to the motor and load characteristics to ensure fast speed response without overshoot, and steady-state error controlled within ±0.5%; subsequently, the initial speed setpoint in step S5... As the reference setpoint for the inner speed loop, with a fixed control cycle Preferred The data is periodically written to the drive controller for the inner-loop PI regulator to track.

[0040] Preferably, the proportional gain of the speed inner loop PI controller and integration time constant Adjust according to the following rules: Based on the rated speed of the motors in each control section Rated torque and moment of inertia Calculate the open-loop cutoff frequency ,Pick ,in This is the motor torque coefficient. Encoder feedback gain; integral time constant Taken as the mechanical time constant of the motor The power ratio is multiplied by 1, with 0.8 being the preferred choice; for a typical Steyrmo roller conveyor motor (power... (Rated speed 1500 rpm) The range of values ​​is (A·s / rad), the integration time constant is During online debugging, first adjust the proportional gain to ensure that the speed response has no overshoot, then gradually reduce the integral time constant until the steady-state error disappears. The final parameters are determined based on the criteria that the measured step response overshoot is less than 5% and the settling time is less than 0.5s.

[0041] (2) Based on the target reel spacing and the distance between each control segment and the spinning point, reel spacing feedback closed-loop control is performed, including: S140-3, acquire the original image collected by the coil image detection unit above the Steyrmo roller conveyor; The original image was obtained by a coil image detection unit positioned above the Steyrmo roller conveyor; S140-4, Extract the outer contour of the coil from the original image, and fit the outer contour of the coil to an ellipse to obtain a fitted ellipse. Calculate the ratio of the area of ​​the outer contour of the coil to the area of ​​the fitted ellipse to obtain the forming integrity. S140-5, locate two adjacent coils and extract the strip region between the adjacent coils to obtain the region of interest; extract the sharpness of the region of interest to obtain the sharpness of the adjacent boundaries; S140-6, extract the distance between adjacent coils to obtain multiple sets of measured coil distances, and calculate the coefficient of variation of multiple sets of measured coil distances to obtain the coil distance dispersion; S140-7, Time alignment and median extraction are performed on multiple sets of measured reel distances to obtain the measured effective reel distance; and the formation integrity, the clarity of adjacent boundaries and the dispersion of reel distances are weighted and summed to obtain the confidence level of the measured effective reel distance; Specifically, the leading edge or center position of N consecutive complete coils is extracted, where N is between 5 and 30. Abnormal coils with an overlap rate exceeding a set value (e.g., 30%), missing boundaries, or deviation from the roller conveyor centerline (e.g., offset exceeding 20% ​​of the effective width of the roller conveyor) are removed. The median value of the remaining coil spacing samples is taken as the measured effective coil spacing. .

[0042] In addition to using vision, this application can also use Kalman filtering or an encoder to determine the measured effective circle distance.

[0043] The coil spacing observer employs a Kalman filter estimation method based on a kinematic model. Specifically, it calculates the coil ejection frequency using the spinning machine speed signal, integrates the actual speed of each section of the roller conveyor to obtain the theoretical position of the coil on the roller conveyor, and corrects the deviation between the theoretical position and the actual detection signal using the wire arrival timing and coil diameter parameters. The observer's state vector includes the coil's position and speed along the roller conveyor direction, and the observation equation is the matching error between the roller conveyor encoder pulse count and the coil leading edge detection timing. Through Kalman filter recursion, the actual position of the current coil is estimated in real time, and the spacing between adjacent coils is calculated as the measured effective coil spacing. When encoder pulse counting matching is used, the cumulative number of encoder pulses when the leading edge of each coil passes through a fixed detection point is recorded. The difference between the number of pulses of two adjacent leading edges is multiplied by the displacement corresponding to each pulse of the roller conveyor to obtain the actual coil distance of the adjacent coil. If the detection point is equipped with both a photoelectric sensor and an encoder, the coil distance is calculated directly by triggering the encoder latch value with the photoelectric signal, without the need for image detection.

[0044] S140-8, when the confidence level is greater than or equal to a preset confidence level threshold, calculate the relative deviation between the target roll distance and the measured effective roll distance, and perform control algorithm conversion, dead zone processing, and amplitude limiting constraints on the difference to obtain the outer ring roll speed correction amount, wherein the calculation formula for the outer ring roll speed correction amount is: In the formula, For the first The relative deviation of the circle spacing in each cycle For the target lap distance, For the first The measured effective circle distance for each cycle, For the first The outer ring roller speed correction amount per cycle For the amplitude limiting function, This is the proportional gain coefficient. This is the integral gain coefficient. For the cumulative sum of historical biases, This refers to the sequence number of the historical control cycle; S140-9, the outer ring roller speed correction amount With the initial speed set value Summing is performed to obtain the overall speed setpoint for the current cycle. and the overall speed setpoint The data is sent to the PI controller for closed-loop control.

[0045] In steps S140-8 and S140-9, feedback credibility is... When the set threshold is reached (the threshold is uniformly set to be no less than 70%), an outer ring roll speed correction amount is generated based on the difference between the target roll distance and the measured effective roll distance after time alignment. This correction amount is limited by the dead zone, single-cycle change, and cumulative change. This correction amount serves as an additional bias and is the same as the reference setpoint in the same control cycle in S5. After merging to form the comprehensive speed setpoint for the current cycle, these values ​​are sent to the drive controllers of each control segment to ensure that the outer loop correction and inner loop tracking are executed synchronously without timing misalignment. The outer loop roller speed correction is then added to the speed setpoint of the corresponding control segment to form... The outer ring roller speed correction amount is generated according to the above calculation formula.

[0046] S150, the silk-spinning angle correction factor has been updated, including: S150-1, Obtain the actual speed of the reference section roller conveyor. And the measured tilt angle correction factor The actual speed of the reference section roller conveyor Based on sensor data, the measured tilt angle correction coefficient The effective circle distance is obtained by inversion from the measured actual circle distance; S150-2, when all target conditions in the first target condition set are simultaneously met in the current control cycle, update the tilt angle correction coefficient for use in subsequent production scenarios of products of the same specification. The first target condition set includes: The speed fluctuations of the actual exit line speed and the actual speed of the reference section roller conveyor are less than or equal to the preset fluctuation rate threshold. The number of samples is greater than or equal to a preset threshold. The confidence level of the measured effective circle distance is greater than or equal to the preset confidence level threshold; The mathematical expression for updating the tilt correction factor is: In the formula, To measure the effective lap distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. The actual speed of the reference section roller conveyor. For the updated version, Forgetting factor, This is the tilt correction factor currently in use.

[0047] Specifically, in a specific case, when When the speed is between 1mm and 3mm, the system enters the control dead zone and stops adding integral terms. The single roller speed correction is 0.5% to 5% of the current set speed, and the cumulative roller speed correction does not exceed ±15% of the feedforward speed set value. When the output reaches the limit value, integral anti-saturation is performed (such as integral separation or inverse integral calculation method).

[0048] Meanwhile, the silk-spinning angle correction coefficient is updated according to the following formula: in The forgetting factor for first-order recursive fusion is set to 0.02 to 0.20. Updates are performed only when the actual exit line speed fluctuation of the spinning machine is no greater than ±1%, the actual speed fluctuation of the reference section roller conveyor is no greater than ±1%, the number of effective coil spacing samples reaches a set number (e.g., no less than 10), and the feedback reliability is no less than 70%. To further improve the reliability of coefficient updates, updates are preferably performed when the feedback reliability is no less than 80%, but the minimum activation threshold for the outer loop closed-loop control is fixed at 70%. The updated correction coefficients are stored in the process formula database according to steel grade, wire diameter, nominal coil diameter, tilt angle range, and speed range for direct use in subsequent production of products of the same specification. To further improve the reliability of coefficient updates, updates are preferably performed when the feedback reliability is no less than 80%, but the minimum activation threshold for the outer loop closed-loop control is fixed at 70%.

[0049] When the feedback reliability is lower than the set threshold or when coil piling is detected (e.g., the overlap of three or more consecutive coils exceeds 50%), coil drift (e.g., the distance between adjacent coils exceeds the target value by 150%), or the risk of reverse insertion (e.g., the leading edge of the coil deviates from the normal landing point by more than the set value), the outer loop integral term and the coil tilt angle correction coefficient update are frozen, and the feedforward speed setting value obtained above is maintained or rolled back to ensure that the system can still operate safely under abnormal conditions.

[0050] S160, Safety Assurance Mechanism; To ensure system safety under extreme operating conditions, the system enters protection control mode when any of the following situations occur: The actual tilt angle of the spinning machine exceeds the allowable range (less than) or greater than ).

[0051] The actual speed of the roller conveyor deviates from the speed setting value by more than 5% for more than 2 seconds.

[0052] Effective coil spacing is continuously missing (e.g., more than 5 consecutive coil detection failures).

[0053] The coil is offset laterally by more than 30% of the effective width of the roller conveyor.

[0054] The distance between adjacent circles is less than the anti-stack threshold (e.g., 50% of the target circle distance) or greater than the anti-drift circle threshold (e.g., 200% of the target circle distance).

[0055] Under protection control, freeze the tilt angle correction coefficient update and outer loop integral term, reset the roll speed correction amount to zero according to a preset slope (e.g., return 10% of the current correction amount each control cycle), and call up the conservative feedforward speed formula pre-stored for the current steel grade and specification (the calculation method of this conservative formula is completely consistent with steps S120 to S130, the difference being the wire spinneret tilt angle). Take the allowable safety boundary value for this steel grade, for example, 8 for small specifications. Larger sizes are 20. This ensures an extremely safe speed value that prevents clumping or drifting; if no pre-stored formula is available, the current tilt correction factor is directly forced to be set to... (Then recalculate according to S3 to S4). This measure aims to prevent the subsequent coil from deteriorating further, prevent the defects from continuing to expand along the roller table direction, and buy time for operators to intervene. For abnormal coils that have already formed, they are compensated by rejection in the subsequent coiling process or slow cooling process, and operation prompts (such as alarm information displayed on the operator station) or interlock signals (such as triggering an audible and visual alarm and notifying the upstream mill to adjust the rolling rhythm) are output.

[0056] This invention does not limit the position of the track pitch detection; the detection position can be located at the end of the reference receiving section, the speed transition section, or the separation section. It is only necessary to calculate the time delay according to the actual path and clarify which control sections mainly affect the track pitch at the detection position. When there are multiple detection positions, local outer loops can be established separately, and each roller section can be controlled by the correction amount allocation matrix, or the detection result with the highest reliability can be selected as the current main feedback.

[0057] This embodiment converts the actual tilt angle into a silk-spinning tilt angle correction coefficient and embeds it. The formula ensures that appropriate speed compensation is obtained even if the tilt angle is too large or too small, thereby quantifying the tilt angle and reducing the risks of material pile-up, floating, inverted insertion, and uneven cooling. This embodiment automatically calculates the feedforward speed and limits the ramp when switching specifications or changing the tilt angle, reducing repeated manual adjustments and improving parameter consistency. This embodiment... To differentiate the response amplitudes of the reference section, transition section, and separation section, and to maintain stable landing points and separation effects at the drop points, this embodiment uses segmented integration and parameter queues to achieve correspondence between the measured coil spacing and the process parameters at the formation time, reducing control lag and oscillation. This embodiment utilizes feedback reliability, amplitude limiting, integral anti-saturation, and protection backoff to maintain production line safety in the event of sensor contamination, missing coil spacing, or coil abnormalities.

[0058] The specific beneficial effects of the above embodiments are as follows: 1. In this invention, the actual tilt angle of the spinning machine is incorporated as a quantitative control parameter into the Steyrmore roller conveyor speed calculation system. A monotonic and continuous spinning tilt angle correction coefficient is generated through the pre-calibrated tilt angle-effective roll spacing relationship. This correction coefficient is directly embedded into the feedforward roller conveyor speed calculation formula of the reference section, so that the roller conveyor speed can be automatically adjusted with the tilt angle: when the tilt angle is too large, the roller speed is automatically increased to stretch the roll spacing; when the tilt angle is too small, the roller speed is automatically decreased to close the roll spacing. This eliminates the problems of spinning pile-up, roll drift, inverted material insertion, and uneven cooling caused by the tilt angle deviating from the standard working condition. Compared with the traditional method of relying on the operator's experience to make adjustments, this invention significantly shortens the debugging cycle and improves the parameter stability.

[0059] 2. In this invention, by coupling the tilt angle correction coefficient exponentially to the speed setting formula of each control section, and in conjunction with the independent speed increase coefficient of each section, the differential transmission of the influence of the spin-out tilt angle deviation on the speed distribution of the entire line roller conveyor is realized; the reference receiving section is not affected by the tilt angle correction to stabilize the landing point, the section with drop separation fully transmits the tilt angle correction to maintain the separation effect, and the transition section is smoothly connected in a slope-limited manner, which not only ensures the stability of the landing point position at the spin-out point, but also maintains the smoothness of speed changes between each control section and the normal separation of the coil in the drop section, avoiding coil stacking or stretching deformation caused by sudden speed changes.

[0060] 3. In this invention, a feedback reliability assessment based on coil forming integrity, adjacent coil boundary clarity, and coil spacing dispersion is introduced into the feedback loop. A piecewise integration method is used to calculate the dynamic conveying delay. A parameter queue is established using the spinning batch number and timing sequence to precisely match the measured effective coil spacing with the process parameters at its formation time. This ensures that the measured coil spacing is time-aligned with the actual roller speed and spinning process parameters before the conveying delay, eliminating control lag and signal misalignment problems caused by the conveying delay. Simultaneously, the dynamic delay is corrected in real time by adjusting the arrival interval of adjacent coils, ensuring that the timing accuracy of the feedback signal remains reliable even during roller speed adjustments, effectively improving the stability of closed-loop control and the coil spacing adjustment accuracy.

[0061] 4. This invention employs a dual-loop control architecture based on feedforward calculation using correction coefficients and PI outer-loop feedback based on coil spacing deviation. Combined with a self-learning formula mechanism that categorizes and stores formulas by steel grade, wire diameter, tilt angle range, and speed range, and recursively merges and updates them, the system can achieve zero steady-state error tracking in steady state, rapid response during dynamic changes, and automatic recall of matching parameters when switching between different specifications. Simultaneously, it automatically freezes the integral term and reverts to a conservative feedforward value when feedback reliability is insufficient or abnormal conditions such as coil stacking or coil drift are detected. This ensures both control accuracy under normal operating conditions and system safety under abnormal conditions, significantly improving the adaptability of the Steyrmo production line to different steel grades, specifications, and process conditions.

[0062] 5. This invention establishes a multi-dimensional protection criterion, including setting criteria for excessive tilt angle, continuous excessive speed deviation, continuous loss of effective coil spacing, excessive lateral offset of coil, and abnormal coil spacing. When any abnormal condition is triggered, it immediately enters a protection control state: freezing coefficient updates and integral terms, returning the roller speed correction amount to zero according to a preset slope, calling the conservative feedforward formula, and outputting operation prompts or interlock signals. This forms a five-layer safety protection system covering sensor signal quality, actuator status, process parameter boundaries, and product forming quality. It effectively prevents misadjustment and equipment accidents caused by sensor failure, signal interference, or extreme working conditions, ensuring the continuous and safe operation of the production line under complex working conditions.

[0063] like Figure 2 As shown, this application also provides a Steyrmo roller conveyor speed closed-loop control system based on spinning angle correction, comprising: The acquisition module is used to acquire the basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line. The basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. The calculation module is used to calculate the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or to determine the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and to calculate the feedforward roller speed of the reference section based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil. The speed setting module is used to determine the smooth speed setting value sequence of each control segment based on the feedforward roller speed of the reference segment, the spinning angle correction coefficient, and the preset speed increase coefficients of each segment. The closed-loop control module is used to perform closed-loop speed tracking control based on the smooth speed setpoint sequence of the control segment and the current actual speed, and to perform closed-loop control of the reel distance based on the target reel distance and the distance between each control segment and the spinning point.

[0064] This invention discloses a Stellmore roller conveyor speed closed-loop control method and system based on coil tilt angle correction. By generating a correction coefficient that monotonically and continuously varies with the tilt angle and embedding it into the feedforward speed formula of the reference section, the roller conveyor speed is automatically adjusted according to the tilt angle. This eliminates quality problems such as coil stacking and coil drift caused by tilt angle deviation from standard operating conditions at the root, overcoming the drawbacks of traditional open-loop control that relies on trial and error based on manual experience. Furthermore, the correction coefficient is coupled exponentially to the speed formula of each section, and in conjunction with the speed increase coefficient, the segmented differential transmission of the tilt angle effect is achieved. Slope constraints are applied to the speed changes between sections to ensure stable landing point and separation effect at the drop point, avoiding coil stacking or stretching caused by sudden speed changes. Based on this, this invention adopts a dual-loop control architecture combining feedforward calculation and PI outer loop feedback based on coil spacing deviation. Reliability assessment and conveying delay compensation are introduced into the feedback loop to achieve precise time alignment between the measured coil spacing and process parameters, eliminating lag and misalignment, and significantly improving closed-loop stability and control accuracy. This invention effectively solves the problems of unquantified tilt angle, lack of feedback correction, long manual trial-and-error cycle, and difficulty in dealing with dynamic fluctuations in existing open-loop setting methods, significantly shortening the debugging cycle and ensuring continuous and safe operation of the production line.

[0065] As will be understood by those skilled in the art, the computer-readable storage medium described in this embodiment allows for the implementation of all or part of the steps in the above method embodiments by computer program-related hardware. The aforementioned computer program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0066] The electronic terminal provided in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic terminal performs the steps of the above method.

[0067] In this embodiment, the memory may include random access memory (RAM) and may also include nonvolatile memory, such as at least one disk storage device.

[0068] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0069] In the above embodiments, although the invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. The embodiments of the invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims.

[0070] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A closed-loop control method for Steyrmore roller conveyor speed based on spinning angle correction, characterized in that, Including the following steps: The basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line are obtained. The basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. The spinning tilt angle correction coefficient is calculated based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or the spinning tilt angle correction coefficient is determined based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and the feedforward speed of the reference section is calculated based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil. The smooth speed setpoint sequence for each control section is determined based on the feedforward roller speed of the reference section, the spin-out tilt correction coefficient, and the preset speed increase coefficients for each section. Speed ​​closed-loop tracking control is performed based on the smooth speed setpoint sequence of the control segment and the current actual speed, and reel distance feedback closed-loop control is performed based on the target reel distance and the distance between each control segment and the spinning point.

2. The Steyrmore roller conveyor speed closed-loop control method based on spinning angle correction according to claim 1, characterized in that, The formula for calculating the silk-spinning angle correction factor is: In the formula, This is the correction factor for the silk-spinning angle. This is the actual tilt angle of the spinning machine. For standard tilt angle, For the minimum allowable tilt angle, For the maximum permissible tilt angle, This is a correction factor.

3. The Steyrmore roller speed closed-loop control method based on spinning angle correction according to claim 1, characterized in that, The formula for calculating the speed of the feedforward roller conveyor in the reference section is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the target lap distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. This is the correction factor for the silk-spinning angle.

4. The Steyrmore roller conveyor speed closed-loop control method based on spinning angle correction according to claim 1, characterized in that, The method for constructing the tilt angle-correction coefficient relationship model includes: Multiple spinning angle conditions were set, and the actual speed of the reference section roller conveyor was collected under multiple spinning angle conditions. Median of effective circle distance and actual export line speed ; Based on the actual speed of the benchmark section roller conveyor Median of effective circle distance and actual export line speed Calculate the wire spinning angle correction factor for the corresponding wire spinning angle working condition. Wherein, the silk-spinning angle correction coefficient The formula for calculation is: In the formula, The nominal diameter of the coil in the spinning machine; Based on multiple spinning angle conditions and the spinning angle correction coefficient for multiple spinning angle conditions Piecewise linear fitting or monotonic regression is performed to obtain the tilt angle-correction coefficient relationship model.

5. The Steyrmore roller conveyor speed closed-loop control method based on spinning angle correction according to claim 1, characterized in that, Based on the reference section feedforward roller speed, the spinning angle correction coefficient, and the preset speed increase coefficients for each section, a sequence of smooth speed setpoints for each control section is determined, including: Obtain the mechanical tilt angle of the roller conveyor in each control section. and the coefficient of sliding friction between the steel grade coil and the roller conveyor. ; Based on the mechanical inclination angle of the roller conveyor and coefficient of sliding friction Calculate the tilt coupling index The tilt coupling index The formula for calculation is: In the formula, As the reference elevation angle, The material coefficient is related to the coil stiffness; Based on the reference section feedforward roller speed, the spinning angle correction coefficient, the preset speed increase coefficients for each section, and the angle coupling index. Calculate the initial speed setpoint for each control segment. Among them, the initial speed setpoint of each control segment The formula for calculation is: In the formula, The speed of the feedforward roller conveyor in the reference section. For the first The growth rate coefficient of the control segment, This is the correction factor for the silk-spinning angle; Based on the initial speed setpoints of each control segment A linear ramp derivation under step size constraints is performed to obtain velocity values ​​for multiple steps, and a smooth velocity setpoint sequence for each control segment is constructed based on the velocity values ​​for multiple steps.

6. The Steyrmore roller conveyor speed closed-loop control method based on spinning angle correction according to claim 5, characterized in that, Speed ​​closed-loop tracking control is performed based on the smoothed speed setpoint sequence of the control segment and the current actual speed, including: In each control cycle, the speed reference value at the current moment is extracted from the smooth speed setpoint sequence of the control segment and written to the drive controller of each control segment. The difference between the current actual speed and the speed reference value at the current moment is calculated, and the PI controller performs closed-loop speed adjustment based on the difference to make the actual speed track the reference value.

7. The Steyrmore roller speed closed-loop control method based on spinning angle correction according to claim 6, characterized in that, Based on the target reel spacing and the distance between each control segment and the spinning point, reel spacing feedback closed-loop control is performed, including: Acquire the original image captured by the coil image detection unit above the Steyrmo roller conveyor; The outer contour of the coil is extracted from the original image, and an ellipse is fitted to the outer contour of the coil to obtain a fitted ellipse. The ratio of the area of ​​the outer contour of the coil to the area of ​​the fitted ellipse is calculated to obtain the forming integrity. Two adjacent coils are located, and the strip region between the adjacent coils is extracted to obtain the region of interest; the sharpness of the region of interest is extracted to obtain the sharpness of the adjacent boundaries; Extract the distance between adjacent coils to obtain multiple sets of measured coil distances, and calculate the coefficient of variation of multiple sets of measured coil distances to obtain the degree of coil distance dispersion; Multiple sets of measured reel distances are time-aligned and median values ​​are extracted to obtain the effective measured reel distances; and the confidence level of the effective measured reel distances is obtained by weighted summation of the forming integrity, the clarity of adjacent boundaries, and the reel distance dispersion. When the confidence level is greater than or equal to a preset confidence threshold, the relative deviation between the target roll distance and the measured effective roll distance is calculated, and the difference is subjected to control algorithm conversion, dead zone processing, and amplitude limiting constraints to obtain the outer ring roll speed correction amount. The formula for calculating the outer ring roll speed correction amount is: In the formula, For the first The relative deviation of the circle spacing in each cycle For the target lap distance, For the first The measured effective circle distance for each cycle, For the first The outer ring roller speed correction amount per cycle For the amplitude limiting function, This is the proportional gain coefficient. This is the integral gain coefficient. For the cumulative sum of historical biases, This refers to the sequence number of the historical control cycle; The outer ring roller speed correction amount With the initial speed set value Summing is performed to obtain the overall speed setpoint for the current cycle. and the overall speed setpoint The data is sent to the PI controller for closed-loop control.

8. The Steyrmore roller speed closed-loop control method based on spinning angle correction according to claim 7, characterized in that, Also includes: Obtain the actual speed of the reference section roller conveyor And the measured tilt angle correction factor The actual speed of the reference section roller conveyor Based on sensor data, the measured tilt angle correction coefficient The effective circle distance is obtained by inversion from the measured actual circle distance; When all target conditions in the first target condition set are met simultaneously in the current control cycle, the tilt angle correction coefficient is updated for use in subsequent production scenarios of products of the same specification. The first target condition set includes: the speed fluctuation of the actual exit line speed and the actual speed of the reference section roller conveyor is less than or equal to a preset fluctuation rate threshold, the number of samples is greater than or equal to a preset quantity threshold, and the confidence level of the measured effective circle distance is greater than or equal to a preset confidence threshold. The confidence level of the measured effective circle distance is extracted during the circle distance feedback closed-loop control process. The mathematical expression for updating the tilt correction factor is: In the formula, To measure the effective circle distance, This is the actual export line speed. The nominal diameter of the coil in the spinning machine. The actual speed of the reference section roller conveyor. For the updated version, Forgetting factor, This is the tilt correction factor currently in use.

9. The Steyrmore roller conveyor speed closed-loop control method based on spinning angle correction according to claim 1, characterized in that, Also includes: When the system meets one of the second objective conditions, it enters the protection control state, wherein the second objective conditions include: The actual tilt angle of the spinning machine exceeds the allowable range; The actual speed of the roller conveyor deviates from the set speed value by more than the percentage deviation threshold. There are consecutive missing values ​​of the target number of valid circle intervals; The lateral offset of the coil exceeds a preset percentage of the effective width of the roller conveyor; The distance between adjacent rings is less than the anti-pilling threshold or greater than the anti-drift ring threshold; When entering the protection control state, the tilt angle correction coefficient update and outer loop integral term are frozen, the roll speed correction amount is returned to zero according to the preset slope, and the conservative feedforward speed formula pre-stored for the current steel grade and specification is called.

10. A Steyrmore roller conveyor speed closed-loop control system based on spinning angle correction, characterized in that, include: The acquisition module is used to acquire the basic process parameters of the Stellmore roller conveyor in the high-speed wire rod production line. The basic process parameters include the target coil spacing, actual exit line speed, nominal diameter of the coil of the spinning machine, actual tilt angle of the spinning machine, distance between each control section and the spinning point, and current actual speed of each control section. The basic process parameters are pre-filtered and aligned. The calculation module is used to calculate the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-calibrated standard tilt angle, or to determine the spinning tilt angle correction coefficient based on the actual tilt angle of the spinning machine and the pre-built tilt angle-correction coefficient relationship model; and to calculate the feedforward roller speed of the reference section based on the spinning tilt angle correction coefficient, the target coil spacing, the actual exit line speed and the nominal diameter of the spinning machine coil. The speed setting module is used to determine the smooth speed setting value sequence of each control segment based on the feedforward roller speed of the reference segment, the spinning angle correction coefficient, and the preset speed increase coefficients of each segment. The closed-loop control module is used to perform closed-loop speed tracking control based on the smooth speed setpoint sequence of the control segment and the current actual speed, and to perform closed-loop control of the reel distance based on the target reel distance and the distance between each control segment and the spinning point.

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