单机架四辊铝带冷轧机计算机控制系统研究与应用
|
摘要
在铝带轧制中,厚度精度是铝带的两大质量指标之一,厚度控制是铝带轧制领域里的两大关键技术之一;张力是保证轧制正常进行的重要因素,并且直接影响到产品质量。本文以某厂1900mm单机架四辊不可逆铝带冷轧机为研究背景,对轧机的厚度控制系统和张力控制系统进行了深入研究,开发了工程可实现的AGC计算机控制系统以及实用的张力控制策略。论文主要研究内容和取得的成果如下:
(1)介绍了厚度自动控制的基本概念,分析了影响轧件出口厚度的主要因素,详细分析了这些因素在轧制过程对厚度变化的影响规律。
(2)结合现场的实际情况给出液压厚度控制系统的总体设计方案,对整个项目的计算机系统的硬件配置和软件结构作出了详细描述。并且对液压AGC的核心,液压辊缝控制系统的控制原理进行了认真的剖析。
(3)在根据轧机液压厚度自动控制系统总体方案的基础上,详细介绍了在现场应用的前馈AGC、Smith预估监控AGC、厚度计AGC和张力AGC等厚度控制方法,分析了厚度AGC的抗扰性。并对轧制力偏心滤波以及速度补偿进行介绍。
(4)考虑铝带轧制对张力控制要求精度高并结合现场实际情况,提出通过激光测距仪精确测量卷径的方案,详细设计了间接恒张力控制策略。给出了传动系统的控制策略和传动系统的结构图,建立了轧机张力控制相关数学模型,为对张力控制算法的进一步研究奠定了基础。
In aluminum cold rolling process, Strip thickness accuracy is one of the two major quality indicators, thickness control is one of the key technologies in Aluminum rolling field. Tension is the significant factor to maintain the normal rolling, and it influences the quality of product. Under the background of 1900mm single-stand 4-high irreversible aluminum strip cold mill, thickness control system and tension control system have been especially investigated. A realizable AGC system and tension control system have been developed. The main work and results are as follows:
(1) The basic concept of automatic thickness control was introduced. The factors affecting product thickness were analyzed. The rules of thickness changing affected by these factors were detailed analyzed in the rolling process.
(2) The overall plan of the AGC system was given combining with the actual situation of the scene. The hardware configuration and software structure of computer system for entire project were described. For the core of hydraulic AGC, the control principle of HGC was analyzed seriously.
(3) Based on the total scheme of hydraulic AGC, the feed forward AGC, the Smith predictor monitor AGC and the gauge-meter AGC were introduced in detail, the interference rejection was analyzed, the roll force filtering and the speed compensation were introduced finally.
(4) After considering the high accuracy requirement of tension control in Aluminum rolling and combining with the actual situation of field, scheme of accurately measure coil diameter by means of laser sensor was brought forward. Constant tension indirect control strategy was designed in detail. The control scheme and transfer function diagram of drive system were given. The mathematical model related to the tension control of the mill was established
(1)介绍了厚度自动控制的基本概念,分析了影响轧件出口厚度的主要因素,详细分析了这些因素在轧制过程对厚度变化的影响规律。
(2)结合现场的实际情况给出液压厚度控制系统的总体设计方案,对整个项目的计算机系统的硬件配置和软件结构作出了详细描述。并且对液压AGC的核心,液压辊缝控制系统的控制原理进行了认真的剖析。
(3)在根据轧机液压厚度自动控制系统总体方案的基础上,详细介绍了在现场应用的前馈AGC、Smith预估监控AGC、厚度计AGC和张力AGC等厚度控制方法,分析了厚度AGC的抗扰性。并对轧制力偏心滤波以及速度补偿进行介绍。
(4)考虑铝带轧制对张力控制要求精度高并结合现场实际情况,提出通过激光测距仪精确测量卷径的方案,详细设计了间接恒张力控制策略。给出了传动系统的控制策略和传动系统的结构图,建立了轧机张力控制相关数学模型,为对张力控制算法的进一步研究奠定了基础。
In aluminum cold rolling process, Strip thickness accuracy is one of the two major quality indicators, thickness control is one of the key technologies in Aluminum rolling field. Tension is the significant factor to maintain the normal rolling, and it influences the quality of product. Under the background of 1900mm single-stand 4-high irreversible aluminum strip cold mill, thickness control system and tension control system have been especially investigated. A realizable AGC system and tension control system have been developed. The main work and results are as follows:
(1) The basic concept of automatic thickness control was introduced. The factors affecting product thickness were analyzed. The rules of thickness changing affected by these factors were detailed analyzed in the rolling process.
(2) The overall plan of the AGC system was given combining with the actual situation of the scene. The hardware configuration and software structure of computer system for entire project were described. For the core of hydraulic AGC, the control principle of HGC was analyzed seriously.
(3) Based on the total scheme of hydraulic AGC, the feed forward AGC, the Smith predictor monitor AGC and the gauge-meter AGC were introduced in detail, the interference rejection was analyzed, the roll force filtering and the speed compensation were introduced finally.
(4) After considering the high accuracy requirement of tension control in Aluminum rolling and combining with the actual situation of field, scheme of accurately measure coil diameter by means of laser sensor was brought forward. Constant tension indirect control strategy was designed in detail. The control scheme and transfer function diagram of drive system were given. The mathematical model related to the tension control of the mill was established
引文
1.刘静安.铝及铝加工行业发展新动态与技术创新、产品开发新趋向[J],四川有色金属,2001,(4):1-4
2.王祖堂,刘德飞.中国现代铝带冷轧工业发展历程[J],轻合金加工技术,2002,30(10):1-7
3.丁修堃.高精度板带钢厚度控制的理论与实践[M],北京:冶金工业出版社,2009,198
4.熊新民.自动控制原理与系统[M],北京:电子工业出版社,2006,158-166
5.付艳鹏.带钢卷取张力控制研究[D],武汉:武汉科技大学,2005
6.蒋胜.智能控制在张力控制中的研究与应用[D],武汉:武汉科技大学,2006
7.LawrenceW.Dumn,N.Y.Buffalo.Cold mill automation[J].Iron and Steel Engineer,1975(2):42-46
8.杨景明.IGC650HCW冷带轧机控制系统关键技术研究[D],2001.
9.Paul Huzyak.Terry L.Gerber.Design and Application of Hydraulic gap Control System[J],Iron and Steel Engineer,1998,(8):13-20
10.王春行.液压伺服控制系统[M],北京:科学出版社,1989:28-33
11.徐兴元.轧机位置控制系统的研究[D],郑州:郑州大学,2005
12.李凤翔.冷轧机新型控制系统[J].鞍钢技术,1985(12):1-8
13.王一译.冷轧机新型控制系统[J].国外电器自动化,1991(2):11-19
14.魏衡江.轧钢过程自动化技术的新进展(上)[J].冶金自动化,1996,20(2):5-10
15.魏衡江.轧钢过程自动化技术的新进展(下)[J].冶金自动化,1996,20(2):25-30
16.彭天乾.微米级冷轧带钢厚度控制系统[J].冶金自动化,1996,(6):1-5
17.魏立群.纽柯公司将建成可逆式冷轧一平整联合轧机[J].Iron and Steel Engr.1997,(11):31.
18.连家创,刘宏民.板形板厚控制[M].北京:兵器工业出版社,1996:1-11
19.徐建国.板带轧机厚控模型基点预控一监控AGC[J].冶金自动化.1995,3(1):26-28
20.Yoshiharu Anbe.Tension control of a hot strip mill[M].IFAC 13thTriennial World Congress.1996:43 9-444
21.Zeng Suisan.Computerized feed-forward AGC system used on high precision.strip cold rolling mill[J].Metallurgical automation Msgn.1991,2(7)4-5
22.孙复森,刘先礼,耿庆波等.绝对AGC技术在中厚板生产中的应用[J].轧钢.2001,18(5):9-11
23.孙蓟泉,张娟.浅淡轧钢生产中的新技术应用[J].山东冶金.2005,27(6):1-4
24.王彤,刘相华,王国栋.热带钢轧机的弹性特性[J],钢铁研究,1999,110(5),33-35
25.Kunio Sekiguchi,Yoshiro Seki.The advanced set-up and control system for Dofasco's tandem cold mill[J],IEEE transaction on industry application,1996,(32):608-615
26.丁修堃.轧制过程自动化[M],北京:冶金工业出版社,2005:88-91
27.张建功.液压AGC系统的控制算法研究[D],沈阳:东北大学,2005.
28.张培正.冷带钢轧机厚控(AGC)技术简介[J],轧钢,1988,4:31
29.赵丽娟,才宏.液压辊缝控制(HGC)系统在四辊冷带轧机中的应用[J],压力与液压,2005(3).1-2
30.张莉.单机架可逆式冷轧机板厚控制策略研究[D],天津:天津大学,2005
31.Aistleitner K,Mattersdorfer LG et al.Neural network for identification of roll eccentricity in rolling mills[M],Journal of Materials Processing Technology,1996,60:387
32.严刚峰,赵宪生.模糊控制器在延迟控制系统中的应用[J],自动化技术与应用,2003,22(10)22-24
33.施仁,刘文江.过程控制[M],北京:电子工业出版社,1991,179-184
34.A.Hasegawa,et al.Development of fuzzy set theory-based shape control system for cold strip mill[J],Nipp ON STEEL TECHNICAL REPORT,1991,No.49,23-35
35.D.Filev and P.Angelow.Fuzzy optimal control[J],Fuzzy Sets and Systems,Holland,1992,No.47,151-156
36.J.Y.Jung,Y.Taek-Im and L.Kwang.Development of fuzzy control algorithm for shape control in cold rolling[J],Journal of Materials Processing Technology,1995,No.48,187-195
37.陈建华,张殿华.压力AGC有关问题的综述[J],钢铁研究学报,1999,(5):36-40
38.V.B金兹伯格著,姜明东,王国栋译.高精度板带材轧制理论与实践[M],北京:冶金工业出版社,2002,97-108
39.孙一康.带钢冷连轧计算机控制[M].北京:冶金工业出版社,2002,125-128
40.Yoshiharu Anbe.Tension control of a hot strip mill[J],IFAC 13thTriennial World Congress,1996,439-444.
41.Y.Okamura,I.Hoshino.State feedback control of the strip steering for aluminum hot rolling mills[J].Control Engineering Practice,1997,5(8):1035-1042
42.SMITH O J.A controller to overcome Dead Time[J].ISAJ,1959,6(2):28-33.
43.Smith,O.J.M.Closed control of loops with dead time[J].Chemical Engineering Progress,1957,53(5):217-219
44.张殿华,刘相华,孙涛等.一种快速高精度板带轧制过程自动控制厚度的方法[P].中国:200610045735,2006-08-23
45.ABB Beijing Drive Systems Co.,Ltd.Firmware manual DCS800 drives[M],Beijing:ABB Beijing Drive Systems Co.,Ltd,2006,43-62
46.王国亮.基于模糊PID补偿的多电机同步控制策略研究[D],沈阳:东北大学,2006
47.Elzer Richard,Tiby Lothar.Development of Skin-Pass Mills and Construction of a New Two-Stand Skin-Pass Mill for Sheet and Black Plate[J].MPT Metallurgical Plant and Technology.1983,6(3):52-58.
48.T.A.Manning.Tension control during the coil winding process[J],Electrical Insulation Conference and Electrical Manufacturing & Coil Winding Technology Conference,2003,527-529
49.H.Miura,S.Nakagawa,S.Fukushima,J.Amasaki.Gauge and tension control system for hot strip finishing mill[J],International Conference on Industrial Electronics,Control,and Instrumentation,1993,(1):463-464
50.Gerd Voss,Kurt Hefli,A.G.Maschinen.Importance and methods of tension control[J],Electrical Insulation Conference,and Electrical Manufacturing & Coil Winding Conference,1997,517-519
51.宋铁.冷轧带钢开卷张力软测量的研究[D],沈阳:东北大学,2007
52.Tetsuzo Sakamoto,Yoshikazu Fujino.Modelling and analysis of a web tension control system[J],Proceedings of the IEEE International Symposium on Industrial Electronics,1995,(1):358-360
53.裘冠浩.冷轧卷取机张力控制系统的比较与选择[J],轧钢,1990,(1):1-4
54.蔡诚,朱蔚.开卷机张力控制方法的探讨[J],CMET锻压装备与制造技术,2006,(1):1-4
55.聂善峰,刘玉珍.1700mm冷轧机张力系统分析[J],基础自动化,1999,6(6):25-27
56.M.A.Valenzuela,J.M.Bentley,R,D.Lorenz.Sensor less tension control in paper machines[J],IEEE Transactions on Industry Applications,2003,39(2):294-303.
57.S.H.Song,S.K.Sul.A new tension controller for continuous strip processing line[J],IEEE Transactions on Industry Applications,2000,36(2):633-638
58.王金章,张殿华.热连轧卷取机最大转矩递变张力PLC控制系统[J],冶金自动化,1991,15(3):3-16
59.李龙珍.鞍钢1780生产线自动化系统设计[J],鞍钢技术,2004,(3):9-12
2.王祖堂,刘德飞.中国现代铝带冷轧工业发展历程[J],轻合金加工技术,2002,30(10):1-7
3.丁修堃.高精度板带钢厚度控制的理论与实践[M],北京:冶金工业出版社,2009,198
4.熊新民.自动控制原理与系统[M],北京:电子工业出版社,2006,158-166
5.付艳鹏.带钢卷取张力控制研究[D],武汉:武汉科技大学,2005
6.蒋胜.智能控制在张力控制中的研究与应用[D],武汉:武汉科技大学,2006
7.LawrenceW.Dumn,N.Y.Buffalo.Cold mill automation[J].Iron and Steel Engineer,1975(2):42-46
8.杨景明.IGC650HCW冷带轧机控制系统关键技术研究[D],2001.
9.Paul Huzyak.Terry L.Gerber.Design and Application of Hydraulic gap Control System[J],Iron and Steel Engineer,1998,(8):13-20
10.王春行.液压伺服控制系统[M],北京:科学出版社,1989:28-33
11.徐兴元.轧机位置控制系统的研究[D],郑州:郑州大学,2005
12.李凤翔.冷轧机新型控制系统[J].鞍钢技术,1985(12):1-8
13.王一译.冷轧机新型控制系统[J].国外电器自动化,1991(2):11-19
14.魏衡江.轧钢过程自动化技术的新进展(上)[J].冶金自动化,1996,20(2):5-10
15.魏衡江.轧钢过程自动化技术的新进展(下)[J].冶金自动化,1996,20(2):25-30
16.彭天乾.微米级冷轧带钢厚度控制系统[J].冶金自动化,1996,(6):1-5
17.魏立群.纽柯公司将建成可逆式冷轧一平整联合轧机[J].Iron and Steel Engr.1997,(11):31.
18.连家创,刘宏民.板形板厚控制[M].北京:兵器工业出版社,1996:1-11
19.徐建国.板带轧机厚控模型基点预控一监控AGC[J].冶金自动化.1995,3(1):26-28
20.Yoshiharu Anbe.Tension control of a hot strip mill[M].IFAC 13thTriennial World Congress.1996:43 9-444
21.Zeng Suisan.Computerized feed-forward AGC system used on high precision.strip cold rolling mill[J].Metallurgical automation Msgn.1991,2(7)4-5
22.孙复森,刘先礼,耿庆波等.绝对AGC技术在中厚板生产中的应用[J].轧钢.2001,18(5):9-11
23.孙蓟泉,张娟.浅淡轧钢生产中的新技术应用[J].山东冶金.2005,27(6):1-4
24.王彤,刘相华,王国栋.热带钢轧机的弹性特性[J],钢铁研究,1999,110(5),33-35
25.Kunio Sekiguchi,Yoshiro Seki.The advanced set-up and control system for Dofasco's tandem cold mill[J],IEEE transaction on industry application,1996,(32):608-615
26.丁修堃.轧制过程自动化[M],北京:冶金工业出版社,2005:88-91
27.张建功.液压AGC系统的控制算法研究[D],沈阳:东北大学,2005.
28.张培正.冷带钢轧机厚控(AGC)技术简介[J],轧钢,1988,4:31
29.赵丽娟,才宏.液压辊缝控制(HGC)系统在四辊冷带轧机中的应用[J],压力与液压,2005(3).1-2
30.张莉.单机架可逆式冷轧机板厚控制策略研究[D],天津:天津大学,2005
31.Aistleitner K,Mattersdorfer LG et al.Neural network for identification of roll eccentricity in rolling mills[M],Journal of Materials Processing Technology,1996,60:387
32.严刚峰,赵宪生.模糊控制器在延迟控制系统中的应用[J],自动化技术与应用,2003,22(10)22-24
33.施仁,刘文江.过程控制[M],北京:电子工业出版社,1991,179-184
34.A.Hasegawa,et al.Development of fuzzy set theory-based shape control system for cold strip mill[J],Nipp ON STEEL TECHNICAL REPORT,1991,No.49,23-35
35.D.Filev and P.Angelow.Fuzzy optimal control[J],Fuzzy Sets and Systems,Holland,1992,No.47,151-156
36.J.Y.Jung,Y.Taek-Im and L.Kwang.Development of fuzzy control algorithm for shape control in cold rolling[J],Journal of Materials Processing Technology,1995,No.48,187-195
37.陈建华,张殿华.压力AGC有关问题的综述[J],钢铁研究学报,1999,(5):36-40
38.V.B金兹伯格著,姜明东,王国栋译.高精度板带材轧制理论与实践[M],北京:冶金工业出版社,2002,97-108
39.孙一康.带钢冷连轧计算机控制[M].北京:冶金工业出版社,2002,125-128
40.Yoshiharu Anbe.Tension control of a hot strip mill[J],IFAC 13thTriennial World Congress,1996,439-444.
41.Y.Okamura,I.Hoshino.State feedback control of the strip steering for aluminum hot rolling mills[J].Control Engineering Practice,1997,5(8):1035-1042
42.SMITH O J.A controller to overcome Dead Time[J].ISAJ,1959,6(2):28-33.
43.Smith,O.J.M.Closed control of loops with dead time[J].Chemical Engineering Progress,1957,53(5):217-219
44.张殿华,刘相华,孙涛等.一种快速高精度板带轧制过程自动控制厚度的方法[P].中国:200610045735,2006-08-23
45.ABB Beijing Drive Systems Co.,Ltd.Firmware manual DCS800 drives[M],Beijing:ABB Beijing Drive Systems Co.,Ltd,2006,43-62
46.王国亮.基于模糊PID补偿的多电机同步控制策略研究[D],沈阳:东北大学,2006
47.Elzer Richard,Tiby Lothar.Development of Skin-Pass Mills and Construction of a New Two-Stand Skin-Pass Mill for Sheet and Black Plate[J].MPT Metallurgical Plant and Technology.1983,6(3):52-58.
48.T.A.Manning.Tension control during the coil winding process[J],Electrical Insulation Conference and Electrical Manufacturing & Coil Winding Technology Conference,2003,527-529
49.H.Miura,S.Nakagawa,S.Fukushima,J.Amasaki.Gauge and tension control system for hot strip finishing mill[J],International Conference on Industrial Electronics,Control,and Instrumentation,1993,(1):463-464
50.Gerd Voss,Kurt Hefli,A.G.Maschinen.Importance and methods of tension control[J],Electrical Insulation Conference,and Electrical Manufacturing & Coil Winding Conference,1997,517-519
51.宋铁.冷轧带钢开卷张力软测量的研究[D],沈阳:东北大学,2007
52.Tetsuzo Sakamoto,Yoshikazu Fujino.Modelling and analysis of a web tension control system[J],Proceedings of the IEEE International Symposium on Industrial Electronics,1995,(1):358-360
53.裘冠浩.冷轧卷取机张力控制系统的比较与选择[J],轧钢,1990,(1):1-4
54.蔡诚,朱蔚.开卷机张力控制方法的探讨[J],CMET锻压装备与制造技术,2006,(1):1-4
55.聂善峰,刘玉珍.1700mm冷轧机张力系统分析[J],基础自动化,1999,6(6):25-27
56.M.A.Valenzuela,J.M.Bentley,R,D.Lorenz.Sensor less tension control in paper machines[J],IEEE Transactions on Industry Applications,2003,39(2):294-303.
57.S.H.Song,S.K.Sul.A new tension controller for continuous strip processing line[J],IEEE Transactions on Industry Applications,2000,36(2):633-638
58.王金章,张殿华.热连轧卷取机最大转矩递变张力PLC控制系统[J],冶金自动化,1991,15(3):3-16
59.李龙珍.鞍钢1780生产线自动化系统设计[J],鞍钢技术,2004,(3):9-12