CN102485363B - Position balance control method and device for multi-tower vertical loop - Google Patents

Position balance control method and device for multi-tower vertical loop Download PDF

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CN102485363B
CN102485363B CN201010568425.4A CN201010568425A CN102485363B CN 102485363 B CN102485363 B CN 102485363B CN 201010568425 A CN201010568425 A CN 201010568425A CN 102485363 B CN102485363 B CN 102485363B
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loop
roll
speed
bottom roller
calculating
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CN102485363A (en
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陈杰
厉筱玲
黄才铨
徐文超
王超
施汉杰
陶树贵
张亚林
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Baoshan Iron and Steel Co Ltd
Shanghai Baosight Software Co Ltd
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Baoshan Iron and Steel Co Ltd
Shanghai Baosight Software Co Ltd
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Abstract

The invention discloses a position balance control method for a multi-tower vertical loop. The method comprises the following steps of detecting the actual position of a master loop; deducting the actual position of a slave loop from the actual position of the master loop, and obtaining balance parameters through a balance controller; calculating a middle position coefficient according to the master-slave relationship of the two loops and single-strand length and the number of the loops; calculating the speed compensation of the master loop and the speed compensation of the slave loop according to the position balance parameters and the middle position coefficient; calculating a final set speed of each bottom roller of a first loop according to the master-slave property, the strand number, the speed compensation, a master speed of each loop bottom roller and a position number of each loop bottom roller of the first loop; and calculating the final set speed of each bottom roller of a second loop according to the master-slave property, the strand number, the speed compensation, the master speed of each loop bottom roller and the position number of each loop bottom roller of the second loop; the invention further discloses a position balance control device for a multi-tower vertical loop.

Description

Position balance control method and device for multi-tower vertical loop
Technical Field
The invention relates to the field of metallurgy automation, in particular to a position balance control method and a position balance control device of a multi-tower vertical loop.
Background
The loop is an important component of a large continuous strip steel processing production line, and in order to ensure continuous high-speed production of process sections of the production line, the storage capacity of the strip steel of the loop is sometimes required to be particularly large. Under certain production process conditions, a single loop trolley is adopted, mechanical equipment can be made to be very large, the inertia of the whole trolley is very large, and the tension fluctuation of strip steel in the loop is large when the loop is charged and discharged at high speed. The vertical loop trolley can also generate a dynamic inclination phenomenon, so that a structure with a plurality of trolleys (more than 2 loop trolleys) is actually provided.
In order to fully utilize the capacity of the loop, position balance control must be carried out between the trolleys. At present, some electricians adjust the position deviation between the loops by adjusting the winding speed, so that the position control and the tension control of the loops form an irreconcilable contradiction, and the control precision of the loops is greatly influenced. There is therefore a need for a multi-tower vertical loop position balancing control technique that overcomes the deficiencies of the prior art.
Disclosure of Invention
The output of the position deviation controller acts on the loop bottom roller, and finally the winding speed is adjusted by the tension controller to control the deviation between loops, so that the requirement of loop position deviation control is met on the premise of ensuring the stable tension of the loops.
According to the invention, the position balance control method of the multi-tower type vertical loop is provided, which comprises the following steps:
detecting an actual position of the first loop;
detecting the actual position of the second loop;
the first loop and the second loop are in master-slave relationship with each other, and each loop can be a master loop or a slave loop;
subtracting the actual position of the first slave loop from the actual position of the master loop to obtain a result, inputting the result into a position balance controller, and outputting a position balance parameter OUT by the position balance controllerPI；
Detecting the single-strand length and the strand number of the first loop and the second loop, and calculating an intermediate position coefficient P according to the single-strand length and the strand number of the first loop and the second loop and the master-slave relation of the first loop and the second loopINTER；
According to a position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop;
speed compensation V based on main loopMAnd the speed compensation Vs of the slave loop, and the master speed V of the bottom roller of the first loop is used for controlling according to the master-slave properties of the first loop and the second loop1_RoLL_NAnd the position number P of the loop bottom roller1_ROLL_NThe primary speed V of the bottom roller of the second loop2_RoLL_NAnd the position number P of the loop bottom roller2_ROLL_NCalculating the final speeds V of the first loop and the second loop bottom roller respectively1_ROLL_N' and V2_ROLL_N’；
Setting V according to the speed of the bottom rollers of the first loop and the second loop1_ROLL_N' and V2_ROLL_N' correcting a positional deviation between the first loop and the second loop.
According to the present invention, there is also provided a position balance control device for a multi-tower vertical loop, comprising:
a first position sensor that detects an actual position of the first loop;
a second position sensor that detects an actual position of the second loop;
a balance controller connected to the first position sensor and the second position sensor, receiving the actual positions of the first loop and the second loop, subtracting the actual position of the second loop from the actual position of the first loop, and outputting a position balance parameter OUTPI；
A first configuration sensor that detects a single strand length and a strand count of the first loop;
a second configuration sensor for detecting the single strand length and the number of strands of the second loop;
an intermediate position controller connected to the first configuration sensor and the second configuration sensor, receiving the single lengths and the numbers of strands of the first loop and the second loop, and calculating an intermediate position coefficient P according to the single lengths and the numbers of strands of the first loop and the second loop and the master-slave relationship between the first loop and the second loopINTER；
A speed compensation controller connected to the balance controller and the intermediate position controller, for balancing the position according to the position parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop;
a bottom roll speed controller connected to the speed compensation controller, the bottom roll speed controller based on the speed compensation V of the main loopMAnd speed compensation Vs of the slave loop according to the master speed V of the bottom roller of the loop1_ROLL_n，V2_ROLL_nSetting and looping bottom roll position number P1_ROLL_n，P2_ROLL_nRespectively calculating the speeds V of the bottom rollers of the first loop and the second loop1_ROLL_N' and V2_ROLL_N’；
A speed compensation operating mechanism connected to the bottom roller speed controller and also connected to the bottom rollers of the first and second loops according to the speed V of the bottom rollers of the first and second loops1_ROLL_N' and V2_ROLL_N' compensating for the speed of the bottom rollers of the first and second loops.
According to the invention, the speed of the loop bottom roller is adjusted through the deviation of the loop position, and finally the position deviation between loops is controlled by adjusting the winding speed through the loop tension controller, so that tension fluctuation caused by directly adjusting the winding speed is avoided, and the requirements of loop tension control and position balance control are met.
Drawings
FIG. 1 discloses a flow chart of a position balance control method of a multi-tower type vertical loop according to the invention;
fig. 2 discloses a structural view of a position balance control apparatus of a multi-tower type vertical loop according to the present invention.
Detailed Description
Referring to fig. 1, the invention discloses a position balance control method of a multi-tower vertical loop, comprising the following steps:
10. the actual position of the first loop is detected. In the position balance control method of the multi-tower vertical loop, one loop needs to be set as a main loop, and the other loop needs to be set as a slave loop. In one embodiment, the first loop of the inlet section loop is a slave loop, the second loop is a master loop, the first loop of the outlet section loop is a master loop, and the second loop is a slave loop.
11. The actual position of the second loop is detected. The first loop and the second loop are in master-slave relationship with each other, and each loop can be a master loop or a slave loop.
12. Subtracting the actual position of the slave loop from the actual position of the master loop to obtain a result, inputting the result into a position balance controller, and outputting a position balance parameter OUT by the position balance controllerPI。
13. Detecting the single-strand length and the strand number of the first loop and the second loop, and calculating an intermediate position coefficient P according to the single-strand length and the strand number of the first loop and the second loop and the master-slave relation of the first loop and the second loopINTER. In one embodiment, the specific calculation of this step is as follows:
calculating the intermediate position coefficient PINTERComprises the following steps:
PINTER = LX / ( L1+L2 )；
L1 =S1_100 * N1
L2 =S2_100 * N2
wherein,
S1_100is the single-strand length of the first loop, and the unit is meter;
N1is the first activityThe number of strands;
S2_100is the single-strand length of the second loop, and the unit is meter;
N2is the second loop strand number;
LXis the full loop capacity of the main loop, the unit is meter, and L is when the first loop is the main loopX =L1When the second loop is the main loop, LX =L2。
14. According to a position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop. In one embodiment, the velocity compensation V of the primary loop is calculated in this stepmAnd the specific way to compensate Vs from the speed of the loop is as follows:
calculating the velocity compensation V of the main loopmIs composed of
VM =－OUTPI *PINTER；
Calculating the velocity compensation Vs from the loop as
VS = OUTPI * (1－PINTER)。
15. Speed compensation V based on main loopMAnd speed compensation Vs of the slave loop according to the master speed V of the bottom roller of the loop1_ROLL_n，V2_ROLL_nSetting and looping bottom roll position number P1_ROLL_n，P2_ROLL_nCalculating the speeds V of the bottom rollers of the first loop and the second loop respectively1_ROLL_N' and V2_ROLL_N'. In one embodiment, the bottom rollers of the first and second loops have a velocity V1_ROLL_N' and V2_ROLL_N' calculate as follows:
calculating the speed V of the n-th bottom roller of the first loop1_ROLL_N' is
V1_ROLL_N’= V1_ROLL_N －VX *P1_ROLL_n / N1；
Calculating the speed V of the n-th bottom roller of the second loop2_ROLL_N' is
V2_ROLL_N’= V2_ROLL_N － VX’* P2_ROLL_n / N2 +VX’；
Wherein,
V1_ROLL_N' setting the final speed of the nth bottom roller of the first loop in m/s;
V1_ROLL_Nsetting the master speed of the nth bottom roller of the first loop in m/s;
P1_ROLL_nthe position number of the nth bottom roller of the first loop is shown;
N1is a first loop strand number;
V2_ROLL_N' setting the final speed of the nth bottom roller of the second loop in m/s;
V2_ROLL_Nsetting the master speed of the nth bottom roller of the second loop in m/s;
P2_ROLL_nthe position number of the nth bottom roller of the second loop is shown;
N2is the second loop strand number;
VXand VX': when the first loop is a main loop VX=VM VX’=VSWhen the second loop is the main loop VX=VS VX’=VM。
16. According to the speed V of the bottom rollers of the first loop and the second loop1_ROLL_N' and V2_ROLL_N' compensating for the speed of the bottom rollers of the first and second loops.
Referring to fig. 2, the present invention also discloses a position balance control device of a multi-tower vertical loop, which comprises a first position sensor 21, a second position sensor 22, a balance controller 23, a first configuration sensor 24, a second configuration sensor 25, an intermediate position controller 26, a speed compensation controller 27, a bottom roll speed controller 28 and a speed compensation operation mechanism 29.
The first position sensor 21 detects the actual position of the first loop.
The second position sensor 22 detects the actual position of the second loop.
The balance controller 23 is connected to the first position sensor 21 and the second position sensor 22, and receives the actual position of the first loop from the first position sensor 21 and the actual position of the second loop from the second position sensor 22. The balance controller 23 subtracts the actual position of the slave loop from the actual position of the master loop to output a position balance parameter OUTPI。
The first configuration sensor 24 detects the single strand length and the number of strands of the first loop.
The second configuration sensor 25 detects the single strand length and the number of strands of the second loop.
The neutral position controller 26 is connected to the first configuration sensor 24 and the second configuration sensor 25, receives the single strand length and strand count of the first loop from the first configuration sensor 24, and receives the single strand length and strand count of the second loop from the second configuration sensor 25. The neutral position controller 26 calculates a neutral position coefficient P based on the individual strand lengths and the strand numbers of the first and second loops and the master-slave relationship between the first and second loopsINTER. In one embodiment, the neutral position controller 26 calculates the neutral position coefficient P based on the individual strand lengths and the number of strands of the first and second loops in a run-in mannerINTER：
PINTER = LX / ( L1+L2 )；
L1 =S1_100 * N1；
L2 =S2_100 * N2；
Wherein,
S1_100is the single-strand length of the first loop, and the unit is meter;
N1is a first loop strand number;
S2_100is the single-strand length of the second loop, and the unit is meter;
N2is the second loop strand number;
LXis the full loop capacity of the main loop, the unit is meter, and L is when the first loop is the main loopX =L1When the second loop is the main loop, LX =L2。
The speed compensation controller 27 is connected to the balance controller 23 and the intermediate position controller 26, and is based on the position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop. In one embodiment, the speed compensation controller 27 relies on the position balance parameter OUT in the following mannerPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop.
Calculating the velocity compensation V of the main loopMIs composed of
VM =－OUTPI *PINTER。
Calculating the velocity compensation Vs from the loop as
VS = OUTPI * (1-PINTER)。
The bottom roll speed controller 28 is connected to the speed compensation controller 27, and the bottom roll speed controller 28 compensates V based on the speed of the main loopMAnd speed compensation Vs of the slave loop according to the master speed V of the bottom roller of the loop1_ROLL_n，V2_ROLL_nSetting and looping bottom roll position number P1_ROLL_n，P2_ROLL_nCalculating the speeds V of the bottom rollers of the first loop and the second loop respectively1_ROLL_N' and V2_ROLL_N'. In one embodiment, the bottom roll speed controller 28 calculates the speed V of the nth bottom roll of the first loop in the following manner1_ROLL_N’：
V1_ROLL_N’= V1_ROLL_N －VX *P1_ROLL_n / N1
Wherein,
V1_ROLL_N' setting the final speed of the nth bottom roller of the first loop in m/s;
V1_ROLL_Nsetting the master speed of the nth bottom roller of the first loop in m/s;
P1_ROLL_nthe position number of the nth bottom roller of the first loop is shown;
N1is the first loop strand number.
The bottom roll speed controller 28 calculates the speed V of the nth bottom roll of the second loop in the following manner2_ROLL_N’= V2_ROLL_N － VX’* P2_ROLL_n / N2 +VX’；
Wherein,
V2_ROLL_N' setting the final speed of the nth bottom roller of the second loop in m/s;
V2_ROLL_Nsetting the master speed of the nth bottom roller of the second loop in m/s;
P2_ROLL_nthe position number of the nth bottom roller of the second loop is shown;
N2is the second loop strand number;
VXand VX': when the first loop is a main loop VX=VM VX’=VSWhen the second loop is the main loop VX=VS VX’=VM。
A speed compensation actuator 29 is connected to the bottom roll speed controller 28 and also to the bottom rolls of the first and second loops in accordance with the speed V of the bottom rolls of the first and second loops1_ROLL_N' and V2_ROLL_N' compensating for the speed of the bottom rollers of the first and second loops.
According to the invention, the speed of the loop bottom roller is adjusted through the deviation of the loop position, and finally the position deviation between loops is controlled by adjusting the winding speed through the loop tension controller, so that tension fluctuation caused by directly adjusting the winding speed is avoided, and the requirements of loop tension control and position balance control are met.

Claims (8)

1. A position balance control method of a multi-tower vertical loop is characterized by comprising the following steps:
detecting an actual position of the first loop;
detecting the actual position of the second loop;
the first loop and the second loop are in master-slave relationship with each other, and each loop can be a master loop or a slave loop;
subtracting the actual position of the slave loop from the actual position of the master loop to obtain a result, inputting the result into a position balance controller, and outputting the result by the position balance controllerPosition balance parameter OUTPI；
Detecting the single-strand length and the strand number of the first loop and the second loop, and calculating an intermediate position coefficient P according to the single-strand length and the strand number of the first loop and the second loop and the master-slave relation of the first loop and the second loopINTER；
According to a position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop;
speed compensation V based on main loopMAnd the speed compensation Vs of the slave loop, and the master speed V of the bottom roller of the first loop is used for controlling according to the master-slave properties of the first loop and the second loop1_RoLL_NAnd the position number P of the loop bottom roller1_ROLL_NThe primary speed V of the bottom roller of the second loop2_RoLL_NAnd the position number P of the loop bottom roller2_ROLL_NCalculating the final speeds V of the first loop and the second loop bottom roller respectively1_ROLL_N' and V2_ROLL_N′；
Setting V according to the speed of the bottom rollers of the first loop and the second loop1_ROLL_N' and V2_ROLL_N' correcting a positional deviation between the first loop and the second loop.
2. The position balance control method of a multi-tower type vertical loop according to claim 1, wherein the intermediate position coefficient P is calculated based on the single strand length and the strand number of the first loop and the second loop and the master-slave relationship between the first loop and the second loopINTERThe method comprises the following steps:
calculating the intermediate position coefficient PINTERIs composed of
PINTER＝LX/(L1+L2)；
L1＝S1_100*N1；
L2＝S2_100*N2；
Wherein,
S1_100is the single-strand length of the first loop, and the unit is meter;
N1is a first loop strand number;
S2_100is the single-strand length of the second loop, and the unit is meter;
N2is the second loop strand number;
LXfull loop capacity for the primary loop in meters, wherein L is when the first loop is the primary loopX＝L1When the second loop is the main loop, LX＝L2。
3. The position balance control method of the multi-tower vertical loop according to claim 2, wherein the position balance parameter OUT is based onPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop comprises:
calculating the velocity compensation V of the main loopMIs composed of
VM＝－OUTPI*PINTER；
Calculating the velocity compensation Vs from the loop as
VS＝OUTPI*(1－PINTER)。
4. The position balance control method of the multi-tower type vertical loop according to claim 3, characterized in that:
calculating the speed V of the n-th bottom roller of the first loop1_ROLL_N' is
V1_ROLL_N′＝V1_ROLL_N－VX*P1_ROLL_N/N1；
Calculating the speed V of the n-th bottom roller of the second loop2_ROLL_N' is
V2_ROLL_N′＝V2_ROLL_N－VX′*P2_ROLL_N/N2+VX′；
Wherein,
V1_ROLL_N' setting the final speed of the nth bottom roller of the first loop in m/s;
V1_ROLL_Nsetting the master speed of the nth bottom roller of the first loop in m/s;
P1_ROLL_Nthe position number of the nth bottom roller of the first loop is shown;
N1is a first loop strand number;
V2_ROLL_N' setting the final speed of the nth bottom roller of the second loop in m/s;
V2_ROLL_Nsetting the master speed of the nth bottom roller of the second loop in m/s;
P2_ROLL_Nthe position number of the nth bottom roller of the second loop is shown;
N2is the second loop strand number;
VXand VX': when the first loop is a main loop VX＝VM VX′＝VSWhen the second loop is the main loop VX＝VS VX′＝VM。
5. A position balance control device of a multi-tower vertical loop is characterized by comprising:
a first position sensor that detects an actual position of the first loop;
a second position sensor that detects an actual position of the second loop;
a balance controller connected to the first position sensor and the second position sensor, receiving the actual positions of the first loop and the second loop, subtracting the actual position of the second loop from the actual position of the first loop, and outputting a position balance parameter OUTPI；
A first configuration sensor that detects a single strand length and a strand count of the first loop;
a second configuration sensor for detecting the single strand length and the number of strands of the second loop;
an intermediate position controller connected to the first configuration sensor and the second configuration sensor, receiving the single lengths and the numbers of strands of the first loop and the second loop, and calculating an intermediate position coefficient P according to the single lengths and the numbers of strands of the first loop and the second loop and the master-slave relationship between the first loop and the second loopINTER；
A speed compensation controller connected to the balance controller and the intermediate position controllerAccording to the position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop;
a bottom roll speed controller connected to the speed compensation controller, the bottom roll speed controller based on the speed compensation V of the main loopMAnd speed compensation Vs of the slave loop according to the master speed V of the bottom roller of the loop1_ROLL_N，V2_ROLL_NSetting and looping bottom roll position number P1_ROLL_N，P2_ROLL_NRespectively calculating the speeds V of the bottom rollers of the first loop and the second loop1_ROLL_N' and V2_ROLL_N′；
A speed compensation operating mechanism connected to the bottom roller speed controller and also connected to the bottom rollers of the first and second loops according to the speed V of the bottom rollers of the first and second loops1_ROLL_N' and V2_ROLL_N' compensating for the speed of the bottom rollers of the first and second loops.
6. The position balance control device of a multi-tower type vertical loop according to claim 5, wherein the intermediate position controller calculates the intermediate position coefficient P based on the single strand length and the strand number of the first loop and the second loop and the master-slave relationship of the first loop and the second loopINTERThe method comprises the following steps:
calculating the intermediate position coefficient PINTERIs composed of
PINTER＝LX/(L1+L2)；
L1＝S1_100*N1；
L2＝S2_100*N2；
Wherein,
S1_100is the single-strand length of the first loop, and the unit is meter;
N1is a first loop strand number;
S2_100is the single-strand length of the second loop, and the unit is meter;
N2is the second loop strand number;
LXis mainly sleeved with a loopLoop capacity in meters, where L is when the first loop is the primary loopX＝L1When the second loop is the main loop, LX＝L2。
7. The position balance control device of a multi-tower vertical loop of claim 6, wherein the speed compensation controller is based on the position balance parameter OUTPIAnd a middle position coefficient PINTERCalculating the velocity compensation V of the main loopMAnd compensating Vs from the speed of the loop comprises:
calculating the velocity compensation V of the main loopMIs composed of
VM＝－OUTPI*PINTER；
Calculating the velocity compensation Vs from the loop as
VS＝OUTPI*(1－PINTER)。
8. The position balance control device of a multi-tower vertical loop according to claim 7, wherein the bottom roll speed controller calculates the speed V of the bottom roll of the first loop1_ROLL_N' comprising:
calculating the speed V of the n-th bottom roller of the first loop1_ROLL_N' is
V1_ROLL_N′＝V1_ROLL_N－VX*P1_ROLL_N/N1；
Wherein,
V1_ROLL_N' setting the final speed of the nth bottom roller of the first loop in m/s;
V1_ROLL_Nsetting the master speed of the nth bottom roller of the first loop in m/s;
P1_ROLL_Nthe position number of the nth bottom roller of the first loop is shown;
N1is a first loop strand number;
the bottom roller speed controller calculates the speed V of the bottom roller of the second loop2_ROLL_N' comprising:
calculating the speed V of the n-th bottom roller of the second loop2_ROLL_N' is
V2_ROLL_N′＝V2_ROLL_N－VX′*P2_ROLL_N/N2+VX′；
Wherein,
V2_ROLL_N' setting the final speed of the nth bottom roller of the second loop in m/s;
V2_ROLL_Nsetting the master speed of the nth bottom roller of the second loop in m/s;
P2_ROLL_Nthe position number of the nth bottom roller of the second loop is shown;
N2is the second loop strand number;
VXand VX': when the first loop is a main loop VX＝VM VX′＝VSWhen the second loop is the main loop VX＝VS VX′＝VM。
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